System and Method for Dispensing Toppings

ABSTRACT

A system for dispensing toppings onto a topping vehicle may include a hopper platform, hoppers, a retaining plate, a blade, and a hopper-advancing pin. The hoppers each include a hopper bracket slidably engaging the hopper platform. The blade is mounted on the retaining plate and may reciprocate relative to the retaining plate. The hopper-advancing pin is movable relative to the hoppers between deployed and stowed positions. The hopper-advancing pin may engage one of the hopper brackets in the deployed position such that movement of the retaining plate between retracted and extended positions causes movement of the hopper bracket and a respective hopper along a length of the hopper platform. The hopper-advancing pin may be disengaged from the hopper brackets in the deployed position to allow movement of the retaining plate between the retracted and extended positions without causing movement of the hopper brackets.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of PCT/US2019/038335 filed Jun. 20,2019, which claims the benefit of U.S. Provisional Application No.62/687,783 filed on Jun. 20, 2018. The entire disclosures of the aboveapplications are incorporated herein by reference.

FIELD

The present disclosure relates generally to the field of foodpreparation, and more specifically to a new and useful system and methodfor dispensing toppings in the field of on-demand food preparation.

BACKGROUND

Millions of hamburgers and sandwiches are assembled and delivered topatrons at restaurant and fast-food locations throughout the world.Patrons expect custom condiments and toppings, which conventionallynecessitates human input to build a custom hamburger or sandwich. Thus,hamburger and sandwich assembly is typically labor-intensive and canleave room for mishandled food and incorrect or incomplete food orders.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are schematic representations of a system.

FIGS. 2-4 are schematic representations of several variations of thesystem.

FIG. 5A is a flowchart representation of a method of one embodiment.

FIGS. 5B and 6 are flowchart representations of variations of themethod.

FIG. 7 is a schematic representation of one variation of the system.

FIG. 8 is a flowchart representation of variations of the system andmethod.

FIGS. 9A-9E are schematic representations of variations of the system.

FIG. 10 is a flowchart representation of one variation of the system.

FIG. 11 is a flowchart representation of one variation of the system.

FIG. 12 is a schematic representation of one variation of the system.

FIGS. 13A and 13B are schematic representations of one variation of thesystem.

FIG. 14 is a schematic representation of one variation of the system.

FIG. 15 is a perspective view of another system for dispensing toppingsonto a topping vehicle.

FIG. 16 is a perspective view of a topping module of the system of FIG.15 with a dispensing mechanism in a retracted position.

FIG. 17 is a perspective view of the topping module with the dispensingmechanism in an extended position.

FIG. 18 is a partially exploded perspective view of the topping moduleof FIGS. 16 and 17.

FIG. 19 is a partial front view of the topping module withhopper-advancing pins in a deployed position.

FIG. 20 is a partial front view of the topping module with thehopper-advancing pins in a stowed position.

FIG. 21 is a partial side view of the topping module depicting one ofthe hopper-advancing pins engaging a hopper bracket.

FIG. 22 is a perspective view of a housing, retaining plate, and bladeof the dispensing mechanism.

FIG. 23 is a perspective view of the retaining plate, blade, a blademechanism and an advancing pin mechanism.

FIG. 24 is a partial perspective view of the housing, blade, andretaining plate.

FIG. 25 is a perspective view of a blade carrier.

FIG. 26 is a side view of another topping module of the system of FIG.15 having a grater and a dispensing paddle in a first position.

FIG. 27 is a side view of the topping module of FIG. 26 with thedispensing paddle in a second position.

FIG. 28 is a perspective view of yet another topping module of thesystem of FIG. 15 having a dispensing drum in a first position.

FIG. 29 is a perspective view of the topping module of FIG. 28 with thedispensing drum in a second position.

DETAILED OF THE EMBODIMENTS

The following description of the embodiment of the invention is notintended to limit the invention to these embodiments, but rather toenable any person skilled in the art to make and use this invention.

1. System

As shown in FIGS. 1A and 1B, a system 100 for dispensing toppings onto atopping vehicle includes: a first topping module 110 including a firsthopper 111 configured to dispense a first topping of a first toppingtype, a first blade 116 adjacent a discharge end of the first hopper 111and configured to slice a topping serving from the first topping, and afirst retaining plate 115 offset from and adjacent the first blade 116opposite the first hopper 111; second topping module 110 b including asecond hopper 111 b configured to dispense a second topping of a secondtopping type, a second blade 116 b adjacent a discharge end of thesecond hopper 111 b and configured to slice a topping serving from thesecond topping, and a second retaining plate 115 b offset from andadjacent the second blade 116 b opposite the second hopper 111 b; aconveyor 120 configured to advance the topping vehicle from a firstposition adjacent the first topping module 110 to a second positionadjacent the second topping module 110 b; and a carriage 130 configuredto retract and advance the first blade 116 and the first retaining plate115 to dispense a topping serving from the first topping onto thetopping vehicle in the first position and to retract and advance thesecond blade 116 b and the second retaining plate 115 b to dispense atopping serving from the second topping onto the topping vehicle in thesecond position.

As shown in FIG. 1, one variation of the system includes: a receiver160; a blade 116 supported by the receiver 160; a magazine of hoppers170 configured to contain topping samples of a first topping type,hoppers in the magazine of hoppers 170 selectively indexed over thereceiver 160 to dispense topping samples of the first type into thereceiver 160; a retaining plate 115 adjacent and offset from the blade116 opposite the magazine of hoppers 170; a conveyor 120 sequentiallyadvancing a first topping vehicle from an initial position to a dispenseposition adjacent the receiver 160 and advancing a second toppingvehicle, in series behind the first topping vehicle, from the initialposition to the dispense position; and an actuator 134 selectivelyadvancing and retracting the blade 116 and the retaining plate relativeto the receiver 160 to dispense a serving of the first topping type fromthe receiver 160 onto the first topping vehicle in the dispenseposition, at a first time, based on a first food order corresponding tothe first topping vehicle, and the actuator selectively advancing andretracting the blade 116 and the retaining plate relative to thereceiver 160 to dispense a serving of the first topping type from thereceiver 160 onto the second topping vehicle in the dispense position,at a second time succeeding the first time, based on a second food ordercorresponding to the second topping vehicle, the second food orderdistinct from the first food order.

As shown in FIGS. 1 and 12, another variation of the system includes: afirst topping module receptacle 190 including a first blade 116; asecond topping module receptacle adjacent the first topping module andincluding a second blade; a conveyor sequentially advancing toppingvehicles from an initial position to a first dispense position adjacentthe first topping module receptacle 190 and from the first dispenseposition to a second dispense position adjacent the second toppingmodule receptacle; a first set of topping modules corresponding to afirst menu item and including a first topping module and a secondtopping module, the first topping module including a first hoppertransiently engaging the first topping module receptacle 190 to dispensetopping samples of a first topping type of the first menu item into thefirst topping module receptacle 190, and the second topping moduleincluding a second hopper transiently engaging the second topping modulereceptacle to dispense topping samples of a second topping type of thefirst menu item into the second topping module receptacle; a second setof topping modules corresponding to a second menu item and including athird topping module and a fourth topping module, the third toppingmodule including a third hopper transiently engaging the first toppingmodule receptacle 190 to dispense topping samples of a third toppingtype of the second menu item into the first topping module receptacle190, and the fourth topping module including a fourth hopper transientlyengaging the second topping module receptacle to dispense toppingsamples of a fourth topping type of the second menu item into the secondtopping module receptacle, the second menu item distinct from the firstmenu item; and an actuator system 180 selectively advancing andretracting the first blade 116 to dispense a serving of a topping samplefrom the first topping module onto a topping vehicle in the firstdispense position and selectively advancing and retracting the secondblade to dispense a serving of a topping sample from the second toppingmodule onto the topping vehicle in the second dispense position based ona food order corresponding to the topping vehicle.

As shown in FIGS. 1, 13A, and 13B, yet another variation of the systemincludes: a topping module including: [a hopper configured to containtopping samples of a first topping type; a blade 116 adjacent adischarge end of the hopper and configured to cut portions from toppingsamples of the first topping type dispensed from the hopper; a retainingplate adjacent and offset from the blade 116 and collecting portions ofthe topping type from the blade 116; and a scale coupled to theretaining plate and outputting a signal corresponding to a quantity ofportions of the topping type collected on the retaining plate;] aconveyor advancing a first topping vehicle from an initial position to adispense position adjacent the topping module and advancing a secondtopping vehicle, in series behind the first topping vehicle, from theinitial position to the dispense position; and an actuator system 180selectively actuating the blade 116 and the retaining plate to dispensea first serving of the first topping type from the topping module ontothe first topping vehicle in the first dispense position based on arequest for the first topping type specified in a first food ordercorresponding to the first topping vehicle and based on an output of thescale, and the actuator system 180 selectively actuating the blade 116and the retaining plate to dispense a second serving of the firsttopping type from the topping module onto the second topping vehicle inthe first dispense position based on a request for the first toppingtype specified in a second food order corresponding to the secondtopping vehicle and based on an output of the scale, the first foodorder distinct from the second food order.

1.1 Applications

The system 100 generally functions to slice fresh toppings and toselectively dispense topping servings (i.e., topping servings) ontoedible topping vehicles according to topping orders specific to eachtopping vehicle. The system 100 can therefore automate fulfillment ofcustom topping orders specifying any combination of available toppingsloaded into two or more topping modules by advancing edible toppingvehicles through the topping modules and selectively slicing anddispensing topping servings from each topping module. In one example,the system 100 can selectively and sequentially dispense servings oflettuce, tomato, onion, and pickle from the lettuce, tomato, onion, andpickle topping modules, respectively, onto a stream of hamburger buns(i.e., edible topping vehicles) according to custom topping orderssubmitted by each patron in a restaurant. In this example, the system100 can receive a first custom topping order from a first patron and asecond custom topping order from a second patron, assign the firstcustom topping order (and/or a hamburger patty, a custom topping orsauce order, etc.) to a first hamburger bun (e.g., a bun heel or buncrown) and the second custom topping order to a second hamburger bun,index the first and second (adjacent) hamburger buns through the toppingmodules, selectively dispense topping servings onto the first hamburgerbun according to the first custom topping order, and selectivelydispense topping servings onto the second hamburger bun according to thesecond custom topping order. Each topping module can define a ‘stage’ ina serial set of stages, and the system 100 can thus enable substantiallysimultaneous assembly of multiple topping orders at various stages ofbuild as multiple topping vehicles are advanced through the toppingmodules.

Topping modules within the system 100 can be arranged substantiallyvertically over the conveyor 120 such that toppings within each toppingmodule gravity feed into each slicing mechanism and thus onto toppingvehicles supported by the conveyor 120 below. The conveyor 120 can indexmultiple topping vehicles though the topping modules simultaneously, asshown in FIG. 1A. In one example, the conveyor 120 aligns a firsttopping vehicle adjacent a first topping module, the first toppingmodule dispenses a first topping serving onto the first topping vehicle,the conveyor 120 indexes the first topping vehicle into alignment withthe second topping module, and the second topping module dispenses asecond topping serving onto the first topping vehicle. In this example,the conveyor 120 can align a second topping vehicle—adjacent andsucceeding the first topping vehicle—with the first topping module, andthe first topping module can dispense a third topping serving onto thesecond topping vehicle. The system 100 can thus implement topping ordersto control dispensation of topping servings from each topping moduleonto each topping vehicle while multiple topping vehicles move throughthe various topping modules, wherein each topping order defines whichtoppings to dispense (and which not to dispense) onto an associatedtopping vehicle.

In this document, ‘topping’ and ‘topping sample’ refer to any sliceabletopping and/or add-on for a sandwich, a hamburger, hot dog, a wrap, ataco, a burrito, a salad, a crepe, a bowl of soup, an omelet, or anyother foodstuff. For example, the system 100 can include six toppingmodules, wherein each topping module dispenses a different topping, suchas lettuce, tomato, onion, pickle, hard-boiled egg, or avocado.Therefore, the topping vehicle can include any of a bun, a slice ofbread, a tortilla, a taco, a bed of lettuce, soup within a soupcontainer, a crepe, and omelet, etc. The system 100 can additionally oralternatively dispense condiments, such as relish, ketchup, mustardbarbecue sauce, salsa, hot sauce, etc.

The system 100 can be a subsystem within an automated foodstuff assemblysystem including one or more other subsystems to prepare, assemble, anddeliver other components of a foodstuff. For example, the automatedfoodstuff assembly system can include a patty grinding subsystem thatgrinds and presses custom hamburger patties from raw meat (e.g., basedon custom patty orders), a patty grilling subsystem that grills patties(e.g., rare, medium, or well-done based on custom patty orders), a buntoaster subsystem that toasts each half of a hamburger bun, the system100 that loads toppings onto bottom buns (e.g., based on custom toppingorders), and a bagging subsystem that loads completed hamburgers intopaper bags for delivery to patrons. The system 100 can similarlyassembly sandwiches, hotdogs, burritos, tacos, wraps, salads, beverages(e.g., smoothies, coffee drinks), or other foodstuffs, such as accordingto custom food orders. The system 100 can therefore be incorporated intoan automated foodstuff assembly to enable food order customization byselectively dispensing toppings according to topping orders specific toparticular topping vehicles. However, the system 100 can be a standalonedevice, incorporated into any other device or system, or implemented inany other way.

1.2 Topping Modules

As shown in FIGS. 1A and 2, the first topping module 110 of the system100 includes a first hopper 111, a first blade 116, and a firstretaining plate 115. The first hopper 111 is configured to dispense afirst topping 101 of a first topping type, the first blade 116 isadjacent a discharge end of the first hopper 111 and is configured toslice a topping serving 102 from the first topping, and the firstretaining plate 115 is offset from and adjacent the first blade 116opposite the first hopper 111. Similarly, the second topping module 110b of the system 100 includes a second hopper 111 b, a second blade 116b, and a second retaining plate 115 b. The second hopper 111 b isconfigured to dispense a second topping 101 b of a second topping type,the second blade 116 b is adjacent a discharge end of the second hopper111 b and is configured to slice a topping serving 102 b from the secondtopping, and the second retaining plate 115 b is offset from andadjacent the second blade 116 b opposite the second hopper 111 b.

The system 100 can include any number of topping modules, and eachtopping module can be configured to dispense one particular type oftopping, such as lettuce, tomato, pickle, onion, mushrooms, bacon,cheese, hard-boiled egg, carrots, pineapple, peppers, scallions,cucumbers, sprouts, avocado, onion rings, French fries, a second half ofa bun (e.g., a bun heel), a deli meat, a cooked or prepared meat, ahotdog, a sausage, or a hamburger patty, etc. Each topping module withinthe system 100 can include a hopper configured to dispense a topping ofa particular topping type, a blade arranged adjacent a discharge end ofthe hopper and configured to slice a topping serving from the topping,and a retaining plate offset from and adjacent the blade opposite thehopper, wherein the retaining plate is configured to retain the toppingprior to slicing and to release a topping serving once sliced by theblade. A blade and retaining plate pair within one topping module cantherefore define a cutting mechanism.

Generally, each topping module can be configured to slice a toppingserving from a fresh and/or relatively whole topping sample of aparticular topping type. In one example, the first topping module isconfigured to dispense pickles. The first hopper 111 can thus define ageometry that accepts common pickle shapes (e.g., of a particular picklevariety and/or from a particular distributor), and the first hopper 111can feed whole pickles into the first blade 116 (e.g., via gravity), theretaining plate can support a (whole) topping vertically within thereceiver 160, and the carriage or the actuator can advance (or retract)the blade to slice a pickle serving from the pickle sample. The carriage130 can subsequently retract the retaining plate to dispense the pickleslice onto the topping vehicle. In this example, the second toppingmodule can succeed (i.e., follow) the first topping module 110 and canbe configured to dispense tomatoes, wherein the first hopper 111 feedswhole ripe tomatoes into the blade and the carriage 130 sequentiallyactuates the blade and the retaining plate to slice and then deposit atomatoes serving onto the topping vehicle.

A hopper within a topping module can be arranged over a correspondingblade such that toppings may be gravity-fed through the hopper and intothe blade. Alternatively, a hopper within a topping module can beangularly offset from vertical, and toppings can be additionally oralternatively actively fed through each hopper, such as with a leadscrew arranged within the hopper can configured to displace toppingsinto corresponding blade.

A hopper of a particular topping module can define a cross-section of asize and/or geometry suitable for a topping type corresponding to theparticular topping module. In one example, for the topping modulecorresponding to whole dill pickles, the hopper can be circular incross-section with a 3″ internal diameter, which can accommodate curveddill pickles with 1.5″ to 2.5″ outer diameters (though the hopper canhave internal diameter of any other size to accommodate dill pickles ofany other outer diameters). In this example, the topping modulecorresponding to whole dill pickles can include a set of hoppers, suchas three hoppers of similar or substantially identical cross-section,each configured to dispense a dill pickles, wherein the carriage 130 canactuate the corresponding blade to slice a pickle serving from picklesin each of the set of hoppers in a single stroke. In another example,for the topping module corresponding to a hard cheese, the hopper candefine a rectilinear cross-section of internal dimension accommodating a0.2″ gap on all sides of a standard cheese block fed through the hopper.

As described above, a topping module can include a set of adjacenthoppers. In this implementation, each hopper in the set of hoppers forthe topping module can dispense the same type of topping. For example,the first topping module 110 can include three hoppers arrangedconcentrically (e.g., in a triangular pattern) about an axis parallel tothe axes of the hoppers, and each of the three hoppers can dispensepickles. Alternatively, each hopper in the set of hoppers within thetopping module can include a different topping type, such ascommonly-paired toppings. For example, the first topping module 110 caninclude two parallel and adjacent hoppers, including one hopperconfigured to dispense pickled jalapenos and another hopper configuredto dispense pickles carrots. In a similarly example, the first toppingmodule 110 can include two parallel and adjacent hoppers, including onehopper configured to dispense cilantro and another hopper configured todispense onion. In this implementation, carriage 130 can actuate theblade of the topping module to slice a topping serving from topping fromeach hopper in the topping module in the same cut stroke.

The geometry and/or cross-section of a hopper within a topping modulecan be static. Alternatively, the effective internal diameter and/orinternal geometry of a hopper can be adjustable. For example, a toppingmodule can include a topping guide 113 a (shown in FIG. 7) mountedwithin a corresponding hopper via a pivot and/or an adjustment screwproximal a discharge (i.e., output) end of the hopper. In this example,an operator can adjust the adjustment screw to advance or retract thetopping guide 113 a, thereby modifying an effect internal dimension ofthe corresponding hopper to a substantially optimal position forconstraining a corresponding topping type. In another example, thetopping guide 113 a can be mounted within the hopper via a pivot and achute actuator 113 b (e.g., a solenoid, a rotary electric motor), asshown in FIG. 7, wherein the position of the chute actuator 113 b isdynamically controlled to optimize the position of the topping guide 113a to constrain the specified topping for slicing. In this example, thechute actuator 113 b can be controlled by a processor 150 thatimplements closed-loop feedback to maintain a near-constant applicationof cross-axial force on toppings as the toppings are fed through thehopper. In this example, the processor can interface with an opticalsensor (e.g., a camera) adjacent the hopper and can implement machinevision to identify variations in size of toppings within the hopper andadjust the topping guide 113 a accordingly. Alternatively, the processorcan interface with a pressure sensor, a strain gauge, an ammeter, or anyother suitable sensor to calculate a suitable force to apply to atopping within the hopper via the topping guide 113 a and/or tocalculate a suitable position for the topping guide 113 a. In thisexample, the processor can also dynamically adjust the position of thetopping guide 113 a to manipulate a topping into slicing position withina corresponding slicing mechanism. However, each hopper can define anyother geometry, cross-section, or dimension, can include any otheractive components, and/or can be adjusted or controlled in any otherway.

As shown in FIGS. 1A and 2, a blade in a corresponding topping module isconfigured to slice a topping serving from a topping sample fed into thecutting mechanism from an adjacent corresponding hopper. The blade canbe a disposable blade configured to mount to a cutting plate 117,wherein the blade defines a leading edge of the retaining plate 117.Alternatively, the blade and the retaining plate 117 can define aunitary structure. The carriage 130 can select and retract the retainingplate 117 (and thus the blade) to release the topping sample into acutting chamber between the retaining plate 117 and a correspondingretaining plate, and the carriage 130 can subsequently advance theretaining plate 117 into the cutting chamber to slice a serving from thetopping sample.

In one example implementation shown in FIG. 9A, the blade includes astraight blade defining a straight cutting edge. Alternatively, theblade can include a serrated (shown in FIG. 9B), waveform (shown in FIG.9D), or other cutting edge geometry along a leading edge of the blade.The blade can also include a combination of cutting edge geometries. Forexample, the cutting edge of a blade corresponding to a topping moduleconfigured to dispense tomato servings can define an acute angle withthe direction of linear motion (i.e., advancement and retraction) of theblade, and a leading portion of the blade can be serrated to pierce theendocarp of a tomato sample, and the remainder of the blade can bestraight to cleanly cut the remainder of the tomato sample. The leadingedge of the blade can be linear, curvilinear, or of any other form orgeometry. Alternatively, the blade can include multiple leading edges,such as a V-blade (shown in FIG. 9C) and/or of any other suitable form.

The blade can be substantially planar along the cutting edge, as shownin FIG. 9A. Alternatively, the blade can be non-planar along the cuttingedge. For example, a topping module configured to dispense pickleservings can include a blade that defines a ‘wave’ form along thecutting edge and thus yield ‘wavy’ pickles, as shown in FIG. 9E. Thecutting plate 117 can ride (e.g., as a running fit) within a blade guide114 of a geometry similar to that of the first blade 116, as shown inFIGS. 2 and 7. As in the foregoing example, the cutting mechanism caninclude a blade guide defining a form that substantially matches thewave form of the cutting plate. The geometry of the blade guide 114 canthus provide support to the retaining plate 117 throughout its throw andcan prevent topping servings and/or topping debris from drawing betweenthe blade and the blade guide. However, the blade, retaining plate 117,and/or blade guide can be of any other suitable shape, profile, orgeometry.

As shown in FIGS. 3 and 4, a broad face of the retaining plate 117 canfurther define a perforated (e.g., low-surface-area) region 118 behindthe blade. The perforated region 118 can be configured to contact thetopping sample within the cutting mechanism when the blade issubstantially fully advanced though the topping sample. In oneimplementation, the perforated portion includes a screen of wovenmaterial defining a set of opens arranged on the retaining plate 117,such as over an opening in the retaining plate 117 behind the blade. Inanother implementation, the perforated region 118 includes a set ofbores (i.e., perforations) directly in the retaining plate 117, such asa set of drilled, etched, machined, laser-cut, waterjet-cut, die-cut,stamped, or cast through-bores formed into the retaining plate 117behind the blade. In alternative implementations, the perforated region118 includes any of a set of wrinkles, stamped divots, or formed troughsand valleys in the retaining plate 117 behind the blade. However, theperforated region 118 can be of any other suitable geometry to reduce orminimize surface area contact between a serving cut from a correspondingtopping and the retaining plate 117 in a fully-advanced position. Theperforated region 118 of the cutting plate 117 can therefore function toreduce surface adhesion, suction, hydrogen bonding, or otherintermolecular adhesive forces between the retaining plate 117 and atopping serving, which can substantially reduce a likelihood that atopping serving will cling to the retaining plate 117 (after theretaining plate is retracted) rather than dropping onto a correspondingtopping vehicle.

As shown in FIG. 2, a retaining plate 117 can include a guide featureconfigured to engage a cutting guide, as described above, and the guidefeature and the cutting guide can thus cooperate to constrain theretaining plate 117 throughout its travel. For example, the guidefeature and the cutting guide can cooperate to constrain the retainingplate 117 in five degrees of freedom excluding a linear translationdegree of freedom to enable the retaining plate 117 to advance andretract. A retaining plate can similarly include a guide featureconfigured to engage a retaining guide, as described above, and theguide feature and the retaining guide can thus cooperate to constrainthe retaining plate 117 throughout its travel.

A blade (and retaining plate 117), a retaining plate, a cutting guide,and a retaining plate can define a cutting mechanism within a particulartopping module. A corresponding chute 112 (described above) can seat inor otherwise engage the cutting guide to feed a topping sample from acorresponding hopper into the cutting chamber, and the retaining guidecan physically coextensive with, assembled with, or otherwise coupled tothe cutting guide opposite the hopper. The cutting guide and theretaining guide can also be disassemblable to enable blade replacementand/or cleaning of the cutting mechanism.

The cutting guide and/or the retaining guide can be of a food-safepolymer (e.g., PET, HDPE, or acetal), to limit a need for lubricantsand/or to limit wear between the cutting guide and the retaining plate117 and between the retaining guide and the retaining plate duringoperation. However, the blade, the retaining plate 117, the retainingplate, the cutting guide, and/or the retaining guide, etc. of a toppingmodule can be of any other suitable material, geometry, form,manufacture, construction etc.

A retaining plate in a topping module can be arranged adjacent andoffset from a retaining plate 117 opposite a hopper (or a hoppermagazine 170) of a corresponding topping module. Alternatively, aretaining plate in a topping module receptacle 190 can be arrangedadjacent and offset from a blade (or retaining plate 117) of the toppingmodule receptacle 190 between the blade and the conveyor. A retainingplate can be configured to retract, relative to the blade, to release afresh topping serving onto an adjacent topping vehicle (e.g., a topingvehicle in a corresponding dispense position), and the retaining platecan be configured to advance (with or relative to the blade) to retainthe sample topping within the cutting mechanism for a subsequent cut. Asshown in FIG. 2, the retaining plate can be offset from thecorresponding blade (or retaining plate 117) by a distance correspondingto a desired or target thickness of a topping serving of a topping typedispensed from the corresponding topping module.

In one implementation, the offset between a retaining plate and acorresponding blade can be static. Offsets between retaining plates andcorresponding blades can also vary across topping modules within thesystem 100. For example, the offset between a first blade 116 and afirst retaining plate 115 corresponding to a first topping module 110configured to dispense pickle servings can be approximately 0.2″ (orbetween 0.15″ and 0.35″), the offset between a second blade 116 b and asecond retaining plate 115 b corresponding to a second topping module110 b configured to dispense tomato servings can be approximately 0.35″(or between 0.3″ and 0.4″), and the offset between a second third bladeand a third retaining plate corresponding to a third topping moduleconfigured to dispense onion servings can be approximately 0.15″ (orbetween 0.1″ and 0.2″). In this example, the system 100 can thus yieldpickle slices that are thinner than tomato slices and onion slices thatare thinner than pickle slices. However, the system 100 can producetopping slices of any other similar, dissimilar, and/or varyingthicknesses.

Alternatively, the offset between a retaining plate and a correspondingblade can be adjustable or customizable by an operator. In one example,the cutting mechanism includes a blade guide that supports the retainingplate 117 and a retaining guide that supports the retaining plate, andthe blade guide is assembled over the retaining guide with one spacerfrom a set of spacers of different thicknesses and/or with one or morespacers of the same or dissimilar thicknesses. In this example, anoperator (or restaurant, franchise, etc.) can set a preferred thicknessfor each topping type by adjusting spacers within each cuttingmechanism. In another example, the cutting mechanism includes a bladeguide that supports the retaining plate 117 and a retaining guide thatsupports the retaining plate, and the blade guide is assembled over theretaining guide with one or more turnbuckles. In this example, anoperator can set a preferred thickness for each topping type byadjusting the turnbuckle(s). A restaurant, franchise, etc. implementingthe system 100 to assemble foodstuffs can thus differentiate itself fromothers that also implement the system 100 to assemble (similar)foodstuffs by customizing serving thicknesses for various toppings.

In yet another implementation, the offset between a retaining plate anda corresponding blade can be adjustable substantially in real time, suchas based on a topping order corresponding to a topping vehicle adjacenta corresponding topping module. In this implementation, the toppingmodule can adjust the offset between retaining plate and a correspondingblade substantially in real time to enable custom topping servingthicknesses on a per-topping order basis. In one example, the cuttingmechanism includes rectilinear a blade guide that supports the retainingplate 117 and a rectilinear retaining guide that supports the retainingplate, and the blade guide can be coupled to the retaining guide via aset of turnbuckles at each corner of the guides. In this example, eachturnbuckle can include a pulley, and the turnbuckles can be linkedtogether via a timing belt operated by a rotary motor. In this example,the processor can implement a topping serving thickness specified in atopping order to control the rotary motor, thereby positing the bladeguide and the retaining guide at a separation corresponding to thespecified topping serving thickness. In a similar example, the bladeguide (or the retaining guide) can substantially rigidly mounted, theretaining guide (or the blade guide) can be supported at each corner bya lead screw, each lead screw can include a pulley, and the lead screwscan be linked together via a timing belt operated by a rotary motor. Inthis similar example, the processor can again implement a toppingserving thickness specified in a topping order to control the rotarymotor, thereby positing the retaining guide (or the blade guide) toachieve the specified topping serving thickness. In yet another example,the retaining guide is mounted below the cutting guide via a (kinematic)sliding mechanism, and the carriage 130 includes a ramp or actuatoradjacent a plate selector, wherein the processor controls the ramp ofthe actuator as the carriage 130 advances into the topping module tomodify the offset between the retaining plate and the correspondingblade.

The processor can also interface with a sensor configured to detect thediameter of a portion of the topping sample entering into the cuttingchamber, and the processor can automatically adjust a topping thicknessfor the topping module in real-time (e.g., by adjusting an offsetbetween the retaining plate 117 and the retaining plate) to achieve atarget topping serving volume. For example, an operator, restaurant,franchise, etc. can specify a target topping serving volume for aparticular topping type across all topping orders. Alternatively, apatron can specify a topping serving volume for a particular toppingtype for his food order, or the processor can extrapolate a toppingserving volume for a particular topping type from the patron's foodorder, such as based on a patron preference or order history.

As shown in FIG. 11, a topping module can further include a receiver 160defining an inlet and an outlet, supporting a corresponding blade 116and/or a corresponding retaining plate, engaging a hopper (or a hoppermagazine 170) to receive (whole) topping samples from the hopper intothe inlet, and releasing topping servings from the outlet toward acorresponding dispense position on the conveyor. In one implementation,the receiver 160 cooperates with a hopper, a hopper magazine 170, ablade 116, and/or a retaining plate to define a topping module assembly.In this implementation, the topping module assembly 110 can betransiently installed in the system, such as into a topping modulereceptacle 190, as described below; in this variation, topping modulesdispensing different topping types can be selectively installed invarious topping module receptacles within the system to alter toppingtypes supported by the system at any particular time. In thisimplementation, the topping module 110 can also include one or morediscrete actuators in assembly within the receiver 160, the blade 116,and the retaining plate, etc. such that the actuator(s) remain with thetopping module 110 when the topping module 110 is installed into andthen removed from a topping module receptacle 190 in the system; in thisvariation, a topping module 110 can further include an electrical plugconfigured to engage an electrical receptacle in a topping modulereceptacle 190 to transiently enable high-voltage (e.g., actuation) andlow-voltage (e.g., sensor) communications between sensors and actuatorswithin the topping module 110 and a processors and/or a controllerwithin the system. Alternatively, the receiver 160—with a correspondingblade 116 and/or retaining plate—can be substantially intransientlyinstalled in the system (e.g., within a topping module receptacle 190),and a hopper or a hopper magazine 170 can be transiently installed inthe system to load the receiver 160 with corresponding topping samplesof a corresponding topping type. In this implementation, the receiver160 can be substantially static within the system, and hoppers orhopping magazines can be swapped into and out engagement with thereceiver 160 to adjust a topping type dispensed from the receiver 160;in this variation, a blade 116 and/or a retaining plate within thereceiver 160 can also be exchanged—such as by exchanging a straightblade 116 for a serrated blade 116—based on topping types dispensed fromhoppers or hopper magazines loaded into the receiver 160. However, thereceiver 160 can be of any other form and substantially intransiently ortransiently installed in the system in any other way.

However, a topping module 110 can function in any other way to enablereal-time customization of a topping serving thickness by modifying theoffset between corresponding a retaining plate and blade, and theprocessor can function in any other way to implement a topping orderspecifying a custom topping serving thickness.

1.3 Hopper Magazine

In one variation of the system 100 shown in FIG. 2, a topping module 110includes a chute 112 arranged between a corresponding blade and thedischarge end of a corresponding hopper. Generally, the chute 112 of atopping module 110 can be coupled to a corresponding cutting mechanismand configured to feed a topping sample into the blade while the hopper,once emptied, is replaced with another filled hopper or filled withadditional topping samples. The chute 112 can be of a length greaterthan a maximum anticipated length of a topping type designated for thetopping module 110. Similarly, the chute 112 can define an axial lengthless than an axial length of a hopper in the corresponding toppingmodule 110. The corresponding hopper can thus be transiently (i.e.,removably) coupled to the chute 112 opposite the cutting mechanism tofeed topping samples into the chute 112 and thus into the cuttingmechanism. Because the chute 112 can define an axial length greater thanan anticipated maximum length of a corresponding topping type, the chute112 can contain a substantially whole topping sample and the toppingmodule 110 can continue to dispense topping servings from the toppingsample while the emptied hopper is replaced with another, full hopper orwhile the emptied hopper is removed, reloaded with additional toppingsamples, and replaced into the corresponding topping module 110.

A topping module 110 can therefore include a hopper magazine 170configured to advance a succeeding hopper into a dispense position overa corresponding blade once topping samples in a preceding hopper areexhausted (e.g., once the last topping sample fully enters thecorresponding chute 112). In particular, a topping module 110 caninclude a magazine of hoppers 170, wherein hoppers in the magazine areconfigured to contain topping samples of a corresponding topping typeand are configured to be selectively indexed over the receiver 160 todispense topping samples into the corresponding receiver 160. Forexample, the first topping module 110 can include a hopper magazine 170configured to support the first hopper 111 and a preceding hopper, bothconfigured to dispense a topping of the first topping type, and thehopper magazine 170 can be configured to advance the first hopper 111into a dispense position over the first blade 116 in response toexhaustion of the preceding hopper. The magazine can therefore loadmultiple hoppers into a corresponding topping modules, such as byindexing subsequent hoppers into position over the chute 112 to feedtopping samples into the corresponding slicing mechanism once a currenthopper is emptied, as shown in FIG. 2. The magazine can support multiplehoppers in a linear fashion and index the hoppers linearly into axiallyalignment with a corresponding chute 112 of the topping module. Forexample, as shown in FIG. 11, a magazine can include a track 173arranged over a receiver 160 (of a corresponding topping module ortopping module receptacle 190) and extending from each side of thereceiver 160 substantially perpendicular to the conveyor, and themagazine and/or the actuator system 180 can selectively index hoppers inthe magazine linearly along the track 173 and into position over thereceiver 160 as each hopper in the magazine is exhausted. In thisexample, the track 173 can define a receiving end and a discard end; thereceiving end of the track 173 can receive fresh hoppers loaded withtopping samples of a corresponding topping type, and the discard end ofthe track 173 can discard empty hoppers from the magazine, such as intoa holding area or into a bin adjacent the system for later removal (andreloading) by an operator.

The processor, described below, can control any of a discrete linearactuator, rotary actuator, Geneva mechanism, solenoid, and/or indexinghead, etc. to advance hoppers in the magazine forward, such as once ahopper currently in a dispensing position over a receiver 160 dispensesa final topping sample into the adjacent receiver 160. For example, theprocessor can interface with a linear or rotary encoder coupled to themagazine to track a position of the magazine, and the processor cancontrol a discrete actuator coupled to the magazine to index themagazine forward in a direction perpendicular to the conveyor 120 toload a succeeding full hopper into position once a previous hopper is(substantially) fully emptied. In this implementation, a topping module110 (or a topping module receptacle 190) can thus include a discreteactuator coupled to a discrete hopper magazine 170 of the topping module110 to enable independent positional control of the hopper magazine 170,thereby enabling the system to maintain a substantially constant andconsistent supply of topping samples to the corresponding receiver 160(or to the corresponding topping module receptacle 190) during operationof the system.

In another implementation, a single actuator (or a single actuatorsystem 180) both selectively advances and retracts the blade 116 and/orthe retaining plate of a topping module 110 and selectively indexes thehopper magazine 170 of a particular topping module 110. In particular,in this implementation, an actuator that selectively advances andretracts the blade 116 and/or the retaining plate of a topping module110 further interfaces with the hopper magazine 170 in the correspondingtopping module 110 to advance a first hopper in the magazine past thecorresponding receiver 160 and to index a second hopper, behind thefirst hopper, in the magazine forward over the receiver 160, such as inresponse to evacuation of a last topping sample from the first hopper.

In one example of the foregoing implementation, the system includes thecarriage that includes a beam 131, a selection actuator 132 supported onthe beam 131, and a carriage actuator 134 that advances and retracts thecarriage. In this example, for the blade 116 and retaining plate in atopping module 110 in the system that are disconnected, the selectionactuator 132 can selectively engage and disengage the blade 116 and theretaining plate of the topping module 110 during advance and retractcycles of the carriage to selectively couple and decoupled the blade 116and the retaining plate from the carriage. Alternatively, for the blade116 and retaining plate that are connected or coupled (e.g., in anassembly), the selection actuator 132 can selectively engage anddisengage the blade-retaining plate assembly to couple and decoupled theblade-retaining plate assembly from the carriage. In this example, thecarriage can also include a latch 171—arranged on or coupled to the beam131—that selectively engages a hopper magazine 170 of the topping module110 to latch the hopper magazine 170 to the carriage. In particular,once a first hopper currently arranged over a receiver 160 of thetopping module 110 dispenses a last topping sample into the receiver160, the selection actuator 132 can deselect both the blade 116 and theretaining plate 115, the carriage actuator 134 can retract the beam 131(fully or partially), the latch 171 can engage the magazine hopper, andthe carriage actuator 134 can advance the beam 131 (fully or partially)to drive the hopper magazine 170 forward, thereby shifting the firsthopper out of position over the receiver 160 and moving a second (full)hopper into position over the receiver 160 to dispense topping samplestoward the blade 116. The carriage actuator 134 can thus cooperate withthe selection actuator 132 to advance and retract the blade 116 and theretaining plate to dispense topping servings onto topping vehiclessupported on the conveyor, and the carriage actuator 134 can alsocooperate with the latch 171 to selectively index the magazine hopperforward to align fresh (i.e., full) hoppers with the receiver 160 of thetopping module 110. In this example, the latch 171 can include amechanical, solenoid-actuated latch that engages (e.g., locks to) a bolt172 extending from the hopper magazine 170. Similarly, the latch 171 canbe coupled to the hopper magazine 170 and can engage a bolt 172extending from the beam 131. Alternatively, the latch 171 can include anelectromagnetic latch (e.g., an electromagnet, a transformer, etc.) thatmagnetically couples to magnetic or ferrous material in the hoppermagazine 170 (or vice versa) to periodically advance the hopper magazine170 forward. However, the latch 171 can mechanically or remotely couplethe carriage to the hopper magazine 170 in any other suitable way.

In this foregoing example, the hopper magazine 170 can include a ratchetmechanism 179 that resets to an initial position once the hoppermagazine 170 is indexed forward such that the latch 171 can engage anddisengage the ratchet mechanism 179 at substantially similar start andend points during an advance or retract cycle of the carriage to indexthe hopper magazine 170 forward by a distance (roughly) equivalent to acenter-to-center distance between adjacent hoppers in the magazine.

Alternatively, the processor can track a position of the hopper module,such as based on previous engage and disengage positions of the latch171 or based on a position sensor (e.g., a linear encoder) coupled tothe magazine. In this implementation, during a magazine index cycle,once a first hopper currently arranged over a receiver 160 of thetopping module 110 dispenses a last topping sample into the receiver160, the processor can initiate a magazine index cycle by triggering theselection actuator 132 to deselect both the blade 116 and the retainingplate and then triggering the carriage actuator 134 to retract the beamto a particular position to place the latch 171 adjacent the bolt 172(or other feature) in the magazine hopper based on a known position ofthe bolt 172 in the magazine or based on a disengage position of thelatch 171 during a previous magazine index cycle. The processor can thentrigger the carriage actuator 134 to advance forward from the particularposition by a distance corresponding to the center-to-center distancebetween adjacent hoppers in the magazine before triggering the latch 171to release the magazine and then resetting the position of the carriageto begin a new dispense cycle.

In the foregoing implementation, the system can include a set of toppingmodules, such as arranged in linear fashion along and over the conveyor,with various topping modules in the set including hopper magazines. Thecarriage can thus include multiple latches configured to selectivelyengage and disengage corresponding magazines, and the carriage actuator134 and the latches can cooperate to index select magazines in the setof topping modules as hoppers across the set of topping modules areexhausted of topping samples. Alternatively, each topping module 110 (oreach topping module receptacle 190) can include a discrete carriage,including a beam and a carriage actuator 134, and the carriage actuator134 and the latch 171 of a particular topping module 110 canintermittently index a corresponding hopper magazine 170 forwardindependently of hopper magazines in other topping modules (or in othertopping module receptacles). However, the system, topping module 110,and/or topping module receptacle 190 can include any other actuatorconfigured to index a hopper magazine 170 forward, such as in responseto evacuation of (substantially) all topping samples from a hoppercurrently in a dispensing position over a blade 116 of the correspondingtopping module 110.

In this variation, a topping module can also include a topping levelsensor, wherein the processor reads an output of the topping levelsensor to detect the level of topping samples in a dispensing positionover the corresponding cutting mechanism. In this variation, theprocessor can thus index the magazine forward to load a succeeding(i.e., full) hopper into the dispensing position over the cuttingmechanism once the current hopper is emptied (i.e., contains no furthertopping samples). In one example, hoppers within a topping module are ofa translucent material, such as poly(methyl methacrylate) (PMMA, oracrylic), glass, or polycarbonates (PC), and the processor correlates anoutput of the topping level sensor that includes an optical sensor toestimate a height of topping samples within a hopper in the dispenseposition. In this example, the optical sensor can be substantiallynon-transiently arranged outside of and adjacent a hopper dispenseposition such that the processor can interface with the one opticalsensor to detect topping levels in each hopper as the magazine indexessubsequent hoppers into the dispensing position. In this example, thetopping level sensor can include an infrared emitter and detector.Alternatively, the topping level sensor can include a camera (e.g., anRGB camera), and the processor can implement machine vision to determinethe topping level in a hopper over the cutting mechanism and/or thetopping levels in multiple hoppers substantially simultaneously.

In another example, the processor interfaces the topping level sensorthat includes a pressure sensor, a strain gauge, and/or a scale, etc.proximal the retaining plate to correlate a pressure-, strain-, and/orweight-related signal from the topping level sensor with a topping levelin a hopper in the dispense position over the cutting mechanism. In yetanother example, each hopper incorporates a mechanical limit switch thatchanges output state when the corresponding hopper is emptied. In afurther example, the topping level sensor includes an acoustic sensorarranged over the hopper opposite the cutting mechanism and configuredto output an acoustic signal into a hopper in the dispense position andto receive a reflected acoustic, wherein the processor interfaces withthe acoustic sensor to correlate the reflected acoustic signal with atopping level in the hopper. However, a topping module can include anyother suitable type and/or number of topping level sensors, and theprocessor can interface with the topping level sensor(s) in any othersuitable way. Furthermore, once the processor determines that a currenthopper is empty (i.e., a final topping sample has fully entered thecorresponding chute 112), the processor can index the magazine forwardto load a succeeding hopper in the dispense position.

Furthermore, in the foregoing variation and as shown in FIG. 8, a hoppercan include a lid 109 arranged over (or in) a corresponding dischargeend to support topping samples within the hopper during transport, suchas between a preparation station and the magazine of the correspondingtopping module. In one example, a hopper is closed on a far end oppositethe discharge end, and an operator sets the hopper discharge end up on apreparation surface, loads the hopper with tomatoes (e.g., ten whole,ripe hot house tomatoes) via the discharge end, places the lid 109 overthe discharge end, flip the hopper discharge end-down, and places thehopper into the magazine of a correspond (tomato) topping module. Inthis example, before the magazine indexes the hopper into the dispenseposition over the corresponding cutting mechanism the magazine canautomatically remove the lid 109 from the hopper. Therefore, a lid 109can engage a corresponding hopper to support the weight of toppingsamples when the hopper is full, and/or the magazine can include one ormore features to enable automatic and systematic removal of the lid 109from the hopper.

In one implementation, the lid 109 is circular in cross-section with alip that engages less than the full circumference of the discharge endof the hopper, the lip interrupted by a ramp, as shown in FIG. 8. Inthis implementation, the hopper can include an alignment feature tomaintain an arcuate position of the hopper along its longitudinal axis,and the magazine and/or the topping module can include a wedge 188 thatengages the ramp of the lid 109 to guide the lid 109 off of the hopperas the hopper is moved forward into the dispense position. For example,the wedge 188 can be physically coextensive with the chute 113. Inanother implementation, the lid 109 includes two parallel wedge188-shaped channels perpendicular to the longitudinal axis of thehopper, the hopper includes an alignment feature to maintain an arcuateposition of the hopper along its longitudinal axis within the magazine,and the magazine includes a pair of ramps that engage the wedge 188 s inthe lid 109 to guide the lid 109 off of the hopper as the hopperadvances into the dispense position. However, the lid 109, the hopper,and/or the magazine can include any other suitable component and/orfeature to enable automatic removal of the lid 109 from the hopper asthe hopper is advanced into the dispense position adjacent the cuttingmechanism.

A hopper can additionally or alternatively include a stake 108 arrangedalong (i.e., parallel to) the longitudinal axis of the hopper tomaintain alignment of the topping samples as topping samples are fedinto the cutting mechanism. In one implementation, the stake 108 can bemounted or fixed to the hopper opposite the discharge end of the hopperand proximal the longitudinal center of the hopper, and the cantileveredend of the stake 108 can extend up to (but not beyond) the discharge endof the hopper and include a pointed tip. In this implementation, anoperator can load the hopper with topping samples by piercing toppingsamples with the pointed tip and pressing the samples down the stake108. For example, the operator can load tomatoes into the hopper byremoving the stem form a tomato, piercing the endocarp of the tomatoalong it concentric axis, pressing the tomato down the stake 108 withthe stake 108 passing along the placenta of the tomato, and repeatingfor additional tomatoes until the hopper is full. Thus, in this example,the stake 108 can maintain topping samples in a particular orientationwithin the hopper, which can be useful to enable consistent toppingserving sizes consistently cut across similar planes of various toppingsamples, such as consistently substantially perpendicular to theconcentric axis of a tomato.

In the foregoing implementation, the stage can be of a uniform size andcross-section, such as 0.2″ in diameter, and the stake 108 can be of afood-safe material, such as a stainless steel. The stake 108 canadditionally or alternatively include a removable tip of a cross-sectionlarger than the cross-section of a main section of the stake 108. Forexample, the stake 108 can include a removable 0.35″-diameter tip,wherein an operator places the tip over the discharge end of the stake108, loads the hopper with topping samples, and removes the tip once thehopper is full. In this example, the removable stake 108 can create abore, through loaded topping samples, that exceeds the diameter of themain section of the stake 108, which may substantially reduce apossibility that a topping sample will stick to stake 108 when thetopping sample should otherwise advance toward the cutting mechanism inthe topping module. Alternatively, in the foregoing example, theoperator can leave the tip in place, place the lid over the tip, and thelid 109 can retain the tip such that the magazine removes the lid 109and the tip as the hopper is advanced into the dispense position.

The hopper can additionally or alternatively include a weight arrangedbetween loaded topping samples and a far end of the hopper opposite thedischarge end, and the weight can be sizes to apply a suitable force tothe topping samples to overcome a stiction (and/or other) force that mayprevent a topping sample from advancing into the cutting mechanism. Theweight can further engages a feature in the hopper, include an anchoringcable of a particular length, and/or include any other component orfeature to prevent the weight from falling into the chute 112 and/orinto the cutting mechanism.

Each hopper—and/or any component of the system 100 that contacts atopping, the topping vehicle, or other foodstuff—can be of a food-safematerial, such as stainless steel, glass, ceramic, polyethyleneterephthalate (PET), or high-density polyethylene (HDPE). However, thehoppers can be of any other suitable material or combination ofmaterials. The hoppers can also be of any other form or geometry, can bearranged or indexed into position over the cutting mechanism in anyother suitable way, can be reloaded in any other suitable way andaccording to any other topping level sensor output, and can include anyother feature or component to enable or assist topping loading and/ortopping management.

1.4 Heating and Cooling

In one variation of the system 100, a topping module incorporates aheating element configured to heat, steam, sauté, or otherwise cook atopping sample passing through the hopper and into the cuttingmechanism. For example, a topping module configured to dispense onionservings can include a heating element to heat and/or grill onionswithin a corresponding hopper. The heating element can be arrangedoutside and adjacent the dispense position over the cutting mechanismsuch that the same heating element can heat each succeeding hopperloaded into the dispense position. The heating element can also extendfrom adjacent the dispense position to an ‘on deck’ position and/or and‘in the hole position’ for succeeding hoppers in the topping module suchthat the heating element can substantially simultaneously heat thecontents of multiple hoppers substantially or ‘preheat’ hoppers prior toindexing into the dispense position. For example, the heater can definea planar heating surface arranged parallel to and offset from anindexing direction of the magazine. Alternatively, the topping modulecan include multiple heating elements, each arranged proximal oradjacent hopper positions for multiple succeeding hoppers containingtopping samples. In one example, the heating element includes a quartzheater arranged between two hoppers within the magazine of thecorresponding topping magazine, wherein the heating element moves withthe two hoppers and heats the contents of the two hoppers substantiallysimultaneously. Alternatively, heating elements can be incorporated intohoppers such that a heater is replaced with a corresponding hopper asfull hoppers are loaded into the system 100 and empty hoppers areremoved. In this implementation, the discrete heaters can heat thecontents of various hoppers independently, which can yield control overtopping cooking time and/or temperature. A topping module can similarlyincorporate a cooling system configured to cool the contents of ahopper, such as to extend the freshness of the loaded topping samples.For example, a topping module can incorporate a liquid-to-air heatexchanger to extract heat from a hopper in the dispense position and/orone or more full hoppers in succeeding positions, such as to cool ahopper configured to dispense tomato servings or lettuce.

In the foregoing variation, the system 100 can include a heat shieldarranged between hoppers of adjacent topping modules to isolate heatingand/or cooling to a particular topping module. In one example, thesystem 100 can include a heat shield arranged between a heated onionmodule and an adjacent cooled lettuce module such that heating isisolated to the onion module to cook or sauté the onions and such thatcooling is isolated to the lettuce module to extend the freshness of thelettuce.

A topping module can additionally or alternatively include a nozzleconfigured to spray or deposit steam, water, oil, butter, spices, and/orflavorings onto toppings within a corresponding hopper while contents ofthe hopper are heated, cooked, sautéed, cooled, within the hopper priorto and/or during dispensation of topping servings from the hopper.However one or more topping modules within the system 100 can includeother component or subsystem to maintain, modify, and/or improve theflavor of a corresponding topping type.

The retaining plate and/or the retaining plate 117 can also function tocook or heat a corresponding topping sample and/or a correspondingtopping serving. In one example, a retaining guide within acorresponding topping module includes conductive leads that contact andsupply current to the retaining plate, thereby heating the retainingplate and warming, cooking, or sautéing a leading face of acorresponding the topping serving in contact with the retaining plate.In another example, a coil adjacent the retaining plate heats theretaining plate via inductive heating, thereby heating an adjacenttopping sample. Additionally or alternatively, the retaining plate 117can be similarly heated. For example, after a blade is advanced througha topping sample and before a corresponding retaining plate is retractedto dispense a topping serving from the topping sample onto a toppingvehicle, the retaining plate 117 can be heated to a high temperature(e.g., 800° F.) for a brief period of time (e.g., one second) to searboth a leading face of a topping sample and a trailing face of a toppingserving currently within the cutting chamber. In this example, uponsubsequent actuation of the blade and the retaining plate, the searedleading face of the topping sample can contact the retaining plate, theblade can be advanced through the topping sample to cut a second toppingserving from the topping sample, and the retaining plate 117 can againsear the trailing face of the second topping serving such that bothsides of the second topping serving are seared by the retaining plate117 over two topping dispense cycles.

As in the foregoing implementation, a topping module with a heatedretaining plate 117 and/or a heated retaining plate, a correspondingcutting mechanism can also include a nozzle configured to spray ordeposit steam, water, oil, butter, spices, and/or flavorings onto theretaining plate 117 and/or onto the retaining plate, such as to improveheating or cooking of a topping serving, improve a flavor of a toppingserving, and/or to prevent a topping sample or a topping serving fromsticking to the retaining plate 117 or to the retaining plate.

Alternatively, the system can incorporate a heating element outside ofand adjacent a topping module. For example, for a topping module 110configured to grate a block of cheese and to dispense grated cheese ontoa topping vehicle (i.e., a “cheese module”), as described below, thesystem can include a heating element succeeding the cheese module andconfigured to selectively heat tops of topping vehicles exiting adispense position adjacent the cheese module to melt cheese dispensedonto the topping vehicles. In this example, the heating element can beselectively actuated (e.g., selectively rapidly heated) to selectivelyheat topping modules passing adjacent thereto, such as to selectivelyheat—and to selectively melt cheese on—topping vehicles only onto whichcheese was dispensed or to selectively heat topping vehiclescorresponding to food orders specifying melted cheese rather than coldcheese. Therefore, in this example, the heating element can beselectively actuated to heat topping servings previously dispensed ontotopping vehicles bases on food orders corresponding specifically to eachtopping vehicle and based on topping types and/or topping dispositionsspecified in each food order. In this implementation, the heatingelement can exhibit rapid heating and cooling capabilities to enable theheating element to selectively heat topping vehicles passing into aheating zone adjacent the heating element. For example, the heatingelement can include a pilot and a gas (e.g., natural gas, propane)burner configured direct a flame toward the heating zone, the conveyorcan advance a topping vehicle from a preceding dispense position (e.g.,adjacent the cheese module) to the heat zone, and the heating elementcan selectively project a flame toward the heating zone to heat thetopping vehicle based on a callout for a heated or toasted topping(e.g., melted cheese) in a food order corresponding to the toppingvehicle. Alternatively, the heating element can include an inductiveheating element, resistive heating element, or any other suitable typeof heating element. In this implementation, the system can furtherinclude a heat shield arranged between the heating element and anadjacent topping module 110, such as between the heating element and ahopper in a preceding cheese module to substantially prevent cheese inthe hopper from melting due to heat from the heating element.

Yet alternatively, a topping module 110 can include an internal heatingelement configured to maintain contents of the topping module 110substantially above a minimum temperature for the corresponding toppingtype. For example, the system can include a topping module 110configured to shred a mass of cooked (e.g., roasted meat) and todispense servings of shredded meat from the mass of cooked meat, and theprocessor the system can include a temperature sensor (e.g., athermistor, a thermocouple) and a heating element thermally coupled to ahopper containing the mass of cooked meat, and the processor can controlpower delivery to the heating element to maintain a temperature of themass of meat above a minimum meat temperature based on an output of thetemperature sensor. In this implementation, the system can furtherinclude a heat shield arranged between the first hopper and the secondhopper. A topping module 110 can similarly include an internal coolingelement configured to maintain contents of the topping module 110substantially below a maximum temperature for the corresponding toppingtype, such as for a topping module 110 arranged along the conveyoradjacent a heating element, as described above.

A blade, a retaining plate 117, and/or a retaining plate of acorresponding topping module can be of a food-safe material, such as316L stainless steel. For example, the blade can be a ground stainlesssteel blade. The retaining plate 117 and the retaining plate can besubstantially ‘two and one-half dimensional’ structures and can bemachined, etched, stamped, ground, drilled, sheared, or otherwise formedfrom sheet or plate in one or more single machining or manufacturingoperations. As shown in FIGS. 3 and 4, each of the retaining plate 117and the retaining plate can further incorporate an engagement feature,wherein the carriage 130 is configured to selectively engage theengagement features 119 to sequentially advance and retract theretaining plate 117 and the retaining plate to slice and then dispense atopping serving onto a topping vehicle. In one example implementation,the engagement features 119 are cut or formed into trailing regions ofthe retaining plate 117 and the retaining plate, such as shown in FIGS.3 and 4.

1.5 Cheese and Meat

In one variation, a blade (or retaining plate 117) in a topping module110 can additionally or alternatively include a grated blade (e.g., a“grater”). For example, for a topping module 110 configured to dispensegrated cheese, a hopper in the topping module 110 can dispense a wholeblock of cheese into a grating chamber, and the grated blade can beactuated linearly or in rotation to grate portions of cheese from thecheese block; the retaining plate in the topping module 110 can then beactuated to dispense the portions of grated cheese onto a toppingvehicle below. Alternatively, the retaining plate can be arrangedbetween the hopper and the retaining plate 117 and can include a spike,clamp, or other feature that retains the cheese block in position overthe retaining plate 117 as cheese is grated from the cheese bock anddeposited directly onto the topping vehicle.

In one implementation, as shown in FIGS. 13A and 13B, a “cheese module”configured to grate cheese and to dispense grated cheese portions ontotopping modules includes a blade defining an annular grater and adiscrete rotary grater actuator configured selectively (e.g.,intermittently) rotate the annular grater (about its axis) to gratetopping portions of cheese from a cheese block dispensed toward theblade 116 by a hopper arranged over the annular grater, such as based ona request for cheese specified in a food order for a topping vehiclecurrently arranged in a dispense position under the cheese module. Inthis implementation, the retaining plate is arranged below the annularblade and collects cheese portions grated from the cheese block by theannular blade, and the carriage, the carriage actuator 134, a selectionactuator 132 corresponding to the cheese module can selectively retractthe retaining plate to release the cheese portions onto the toppingvehicle below. Alternatively, another discrete (linear) actuator canselectively retract the retaining plate—independently of other retainingplates in other topping modules in the system—to release the cheeseportions onto the topping vehicle below.

In the foregoing variation, the processor can control a duration and/ora speed of actuation of a grater actuator coupled to the grated blade tograte a particular weight, mass, or volume of cheese from the cheeseblock. Alternatively, the retaining plate in the cheese module can becoupled to a weighing scale 152 (e.g., a load cell, a strain gauge,etc.), as shown in FIG. 12B, and the processor can trigger a grateractuator to rotate the grater blade, sample an output of the weighingscale 152, correlate the output of the weighing scale 152 with a weightor mass of grated cheese dispensed onto the retaining plate, and stopthe grater actuator and then trigger the carriage actuator, selectionactuator 132, actuator system 180, or other actuator coupled to theretaining plate to retract the retaining plate to dispense the gratedcheese onto a topping vehicle below once a detected weight or mass ofgrated cheese on the retaining plate substantially matches or reaches atarget weight or mass of grated cheese. For example, the processor canimplement a target mass or weight of grated cheese predefined as acheese serving for the system to set a trigger point to cease gratingand to dispense grated cheese from the retaining plate onto a toppingvehicle below. Alternatively, the processor can implement a target massor weight of cheese specified in a food order for a particular toppingvehicle (e.g., “a little” (0.5 oz), average (1 oz), or “a lot” (1.5 oz))to set the trigger point to cease grating and to dispense grated cheesefrom the retaining plate onto the particular topping vehicle below. Inthis variation, the weighing scale 152 can coupled to the retainingplate I the cheese module and can output a signal corresponding to aquantity of portions of grated cheese collected on the correspondingretaining plate below. For example, the weighing scale 152 can include aload cell supporting one or more corner of the retaining plate or astrain gauge arranged across a cantilevered section of the retainingplate extending below the grater blade. However, the weighing scale 152can include any other type of scale, coupled to the retaining plate inany other suitable way, and outputting any other signal typecorresponding to a weight or mass of grated topping sample collected onthe retaining plate.

In one implementation of this variation in which the system includes afirst topping module 110 that dispenses slices (e.g., servings) oftopping samples (e.g., tomato slices, onion slices, pickle slices) and asecond topping module that dispenses grated cheese (or shredded meat),the actuator system 180 can include a first linear actuator selectivelyadvancing and retracting a first blade and/or a first retaining plate ofthe first topping module 110 independently of a grater actuator coupledto the grater blade of the second topping module, as shown in FIGS. 13Aand 13B, such that the grater blade can be actuated over a duration oftime to collect a target mass, weight, or volume of cheese on the secondretaining plate (e.g., which may take approximately eight seconds)independently of a slicing cycle in the first topping module 110 (e.g.,which may take less than two seconds). For example, the grater blade candefine an annular grater blade, as described above, coupled to anindependently-actuated rotary actuator that rotates the annular graterblade to grate cheese from an adjacent cheese block; or the grater bladecan define an planar grater blade coupled to an independently-actuatedlinear actuator that cycles the planar grater blade back and forth tograte cheese from an adjacent cheese block. In this implementation, thefirst retaining plate of the first topping module 110 and the secondretaining plate of the second topping module can be selectively coupledto the carriage via corresponding selection actuators and then retractedand advanced via the beam by the same carriage actuator. Alternatively,the first retaining plate of the first topping module 110 and the secondretaining plate of the second topping module can be independentlyactuated by corresponding discrete actuators in the actuator system 180.

In a similar variation, the system can similarly include a shredded meatmodule configured to shred or “pull” meat from a mass of meat dispensedfrom a corresponding hopper toward a corresponding blade 116. In thisvariation, the blade 116 can include a planar or annular shredding bladeselectively actuated by a corresponding linear or rotary actuator topull portions of meat from the mass of meat and to dispense the portionsof meat onto a corresponding retaining plate below, such as based on arequest for the meat specified in a food order for a topping vehiclearranged in a dispense position under the shredded meat module; anactuator coupled to the retaining plate can then retract the retractedplate to release the portion of shredded meat onto the topping vehicle,such as described above.

In yet another variation, a topping module can include a reciprocatingblade 116 reciprocated by an independently-controlled reciprocationactuator 182, such as supported on a receiver or on a carriage in thetopping module and coupled to the reciprocating blade 116 with areciprocating mechanism 183, as shown in FIG. 14. In this variation, thereciprocating blade can define a straight or serrated cutting edge, andthe reciprocation actuator 182 can (directly or through thereciprocating mechanism 183) oscillate the blade laterally as theactuator system selectively advances the blade and the retaining plate115 into and out of the receiver. The blade can thus be reciprocated ina first direction by the reciprocation actuator 182 as the carriageactuator or another actuator within the actuator system advances andretracts the blade in a second direction non-parallel to the firstdirection. For example, the reciprocation actuator 182 and the carriageactuator can cooperate to manipulate the blade within a topping moduleconfigured to dispense tomatoes slices from whole tomatoes or configuredto dispense bread slices from a loaf of bread. The reciprocation bladecan be actuated to reciprocate the blade along the first direction asthe carriage (or other) actuator advances the blade into a toppingsamples such that a topper serving can be cut cleanly from the toppingsample substantially without crushing the topping sample, such as forparticular topping types that cut better with reciprocating blades thanwith static blades. However, the reciprocation actuator 182 and one ormore other actuators within the actuator system can cooperate in anyother way to cut a topping serving from a topping sample loaded into ahopper of the topping module.

In the foregoing variations, the cheese module can also include a funnel192 arranged between the retaining plate 115 and the conveyor, thefunnel 192 funneling portions of a topping sample—grated by the graterblade—toward a topping vehicle in a correspond dispense position below.

1.6 Waste

A hopper module can also include a waste chute configured to collectwaste topping cuts and/or pass waste topping cuts away from the toppingmodule 110. For example, when a new topping sample reaches a retainingplate 117, the processor can signal the waste chute to move to anengaged position, and the processor can trigger the carriage 130 tocycle a corresponding blade and retaining plate to slice a butt end offof the topping sample. In this example, the waste chute can collect thebutt end of the topping sample and/or remove the butt end of the toppingsample from the topping module 110 such that the butt end of the toppingsample is not dispensed onto the topping vehicle. The processor cansimilarly control the waste chute and the carriage 130 to dispose of theopposing butt end of the topping sample and the butt ends of subsequenttopping samples. The processor can implement similar functionality toclear a butt end of first topping sample in a full hopper once indexedinto the dispense position by the magazine. The method can interfacewith an optical sensor (e.g., an infrared sensor, an RGB camera), amechanical switch, or any other suitable type of sensor to identify abutt end of a topping sample prior or during entry of the butt end intothe cutting chamber. The processor can alternatively interface with anangle sensor configured to output a signal corresponding to an angle ofan external surface of a topping sample, and the processor can cycle thecarriage 130 until the external surface of a topping sample does notexceed a threshold angle, such as ±30° or ±45° from normal to theretaining plate 117.

1.7 Conveyor

The conveyor 120 of the system 100 is configured to advance the toppingvehicle 103 from a first position adjacent the first topping module 110to a second position adjacent the second topping module 110 b.Similarly, the conveyor 120 can sequentially advance a first toppingvehicle from an initial position to a dispense position adjacent a firsttopping module (or a first topping module receptacle 190) and cansequentially advance a second topping vehicle 103 b, in series behindthe first topping vehicle, from the initial position to the dispenseposition. Furthermore, the conveyor can support a first topping vehiclein a first dispense position adjacent a first topping module (or a firsttopping module receptacle 190), can support a second topping vehicle ina second dispense position adjacent a second topping module, and cansupport a third topping vehicle in an initial position behind the secondtopping vehicle substantially simultaneously and can index (e.g.,advance) the first, second, and third topping modules forward oncetopping servings from the first and second topping modules areselectively dispensed onto the first and second topping vehiclesaccording to corresponding food orders (i.e., individual food ordersassigned to individual topping vehicles).

Generally, the conveyor 120 functions to move a vehicle module throughsubsequent stages (i.e., topping modules) of the system 100, wherein atopping serving is selectively dispensed onto the topping vehicle ineach stage according to a topping order corresponding to the toppingvehicle. The conveyor 120 can thus cooperate with the topping modules tosequentially add topping servings to the topping vehicle to fulfill thecorresponding topping order. The conveyor 120 can also move multipleadjacent topping vehicles through the stages of the system 100 in serieswith a preceding topping vehicle nearer topping order completion than asucceeding topping vehicle. The conveyor 120 can thus sequentially aligna topping vehicle with a cutting mechanism of each topping module, suchas by supporting the topping vehicle with a support member configured toengage the topping vehicle and an actuator configured to move thesupport member through sequential the topping modules.

The conveyor 120 can manipulate the topping vehicle that includes any ofa hamburger bun half (e.g., a bun heel, a bun crown), a bread slice, ahard or soft tortilla, a piece or bed of lettuce, a bed of chip orfries, a cup or bowl of soup, a plate, a bowl, a pan, or any othersuitable edible foodstuff or object capable of receiving toppingservings (e.g., a plate or box). A first topping module at a head of theconveyor 120 can also cut slices of bread—from a loaf of bread loadedinto the first topping module—and deposit these slices of breadsequentially onto the conveyor 120; the conveyor 120 can then advanceeach subsequent slice of bread forward into dispense positions adjacentsucceeding topping modules to receive servings of other toppings, suchas lettuce, tomato, bacon, mustard, relish, salt, and pepper tosequentially assemble a line of sandwiches according to food orderscorresponding to each of the bread slices.

The support member of the conveyor 120 can position the topping vehiclein-line (e.g., vertically) with an output of a cutting mechanism of onetopping module at a time as the conveyor 120 advances the toppingvehicle through the set of topping modules. In an example implementationin which the topping modules are arranged vertically over the conveyor120 (i.e., relative to the ground), the support member can include aplaten that constrains the topping vehicle vertically at a suitabledistance from the output of each topping module, such as 2″ below theretaining plate of a corresponding topping module. Additionally oralternatively, the support member can include one or more tongues thatsubstantially follow a (portion of a) perimeter profile of the toppingvehicle. In one example, the tongues are of a flexible material, such asa high-durometer food-safe silicone elastomer, that conforms to thetopping vehicle to hold the topping vehicle in a suitable position onthe platen. The tongues can similarly include sprung rigid (e.g., sheetstainless steel) fingers to expand and retract to fit the toppingvehicle. In another example, each tongue includes a cam followerconfigured to engage a cam channel along the length of the conveyor 120.In this example, the conveyor 120 can include a looped conveyor trackthat displaces the platen along the topping modules, and the conveyor120 can include two mirrored cam channels that close the tongues aroundthe topping vehicle before the topping vehicle enters the first stage(i.e., is aligned with the first topping module 110) and that opens thetongues to release the topping vehicle after the final stage. In thisexample, the conveyor 120 can loop the platen and corresponding tonguesback to a starting position ahead of the first stage to receive andcapture a subsequent topping vehicle. However, the tongues can be of anyother, rigid, flexible, sprung, and/or guided configuration to support atopping vehicle on a platen throughout the topping stages of the system100.

The tongues can also extend from the platen to above a broad face of atopping vehicle and thus function as a funnel to guide topping servingsfrom cutting mechanisms onto the broad face of the topping vehicle asthe conveyor 120 moves topping vehicle through subsequent stages of thesystem 100. The tongues can therefore guide topping serving placement ona topping vehicle, thereby enabling substantially accurate toppingserving location when multiple topping servings are stacked on a toppingvehicle. The support member can similarly include a rigid fence coupledto the platen to retain a topping vehicle and/or to guide toppingserving placement onto the topping vehicle. However, the conveyor 120can include any other component and/or implement any other suitabletechnique to retain a topping vehicle and/or to guide topping servingsonto topping vehicles.

In one implementation, the conveyor 120 includes an actuator and aconveyor belt or chain configured to serially index the support memberthrough the topping modules. For example, the conveyor belt or chain canbe supported on each end of the topping modules by rollers, wherein atleast one roller is powered by the actuator that includes a rotaryelectric, pneumatic, or other type of motor. The conveyor 120 can alsoinclude one or more guides or channels to support the conveyor belt orchain between the rollers. Alternatively, the conveyor 120 can include arobotic arm, an actuatable table, an independently-controlled mobilevehicle, or any other suitable device or actuator configured to seriallymoving a topping vehicle into position adjacent multiple toppingmodules, such as together with preceding and/or succeeding toppingvehicles or independently of other topping vehicles. The conveyoractuator can be powered by an electric motor, such as with a 240Vthree-phase gearhead motor. Alternatively, the conveyor actuator can bepowered pneumatically, hydraulically, manually (e.g., via a hand crank),or in any other way or with any other power source.

The processor can cooperate with the conveyor 120 to track the positionof a topping vehicle as the topping vehicle is transported through thesystem 100. In one implementation, the conveyor 120 includes a linearoptical encoder and an optical reader, wherein the processor interfaceswith the optical reader to detect a relative position of the encoder andto correlate the relative position of the encoder with a position of atopping vehicle within the system 100. The processor can thus controlthe conveyor actuator according to the position of the topping vehicleto move the topping vehicle though subsequent stages of the system 100.Alternatively, the conveyor 120 can include a powered roller (asdescribed above), wherein rotary motion of the roller is transformedinto linear motion of a conveyor belt or chain that displaces thesupport member retaining a topping vehicle, and the processor caninterface with a rotary encoder and encoder reader coupled to the rollerto read an angular position of the roller and to convert the angularposition of the roller with a linear position of the support member(e.g., relative to a topping module). The processor can alternativelyinterface with a camera (e.g., an RGB camera) arranged proximal theconveyor 120 and/or a topping module, and the processor can manipulatean output of the camera, via machine vision, to determine a position ofa topping vehicle relative to a topping module. The conveyor 120 canadditionally or alternatively include one or more limit switches, andthe processor can interface with the limit switch(es) to detect aposition of the conveyor belt or chain, a position of a topping vehicle,and/or a position of a support member, and the processor can control theconveyor actuator accordingly. The conveyor 120 can additionally oralternatively include an acoustic sensor, a continuous-turnpotentiometer or rheostat, a laser distance sensor, another type ofrotary or linear encoder, or any other suitable sensor, and theprocessor can interface with the sensor and/or implement any othersuitable signal analysis technique to track a position of the conveyor120, a support member, and/or a topping vehicle moving through stages ofthe system 100.

The carriage 130 of the system 100 is configured to retract and advancethe first blade 116 and the first retaining plate 115 to dispense atopping serving from the first topping onto the topping vehicle in thefirst position and to retract and advance the second blade 116 b and thesecond retaining plate 115 b to dispense a topping serving from thesecond topping onto the topping vehicle in the second position.Generally, the carriage 130 functions to operate blades of multipletopping modules in unison to slice topping servings from various toppingsamples substantially simultaneously, and the carriage 130 similarlyfunctions to operate retaining plates of multiple topping modules inunison to dispense topping servings from various topping samples ontomultiple topping vehicles substantially simultaneously.

In one implementation and as shown in FIG. 1A, the system 100 includesmultiple adjacent topping modules arranged linearly (i.e.,sequentially). As shown in FIG. 3, the carriage 130 can include a beam136, a first selection actuator 132 coupled to the beam 136 andconfigured to selectively engage the first blade 116 and the firstretaining plate 115 of the first topping module 110, a second selectionactuator 132 b coupled to the beam 136 and configured to selectivelyengage the second blade 116 b and the second retaining plate 115 b ofthe second topping module 110 b, and a carriage actuator 134 configuredto advance and to retract the beam 136. In this implementation, theselection actuators can be spaced along the beam 136 to align withblades and retaining plates of respective topping modules. Eachselection actuator can therefore be paired with one topping module,wherein a selection actuator selectively engages a blade and a retainingplate of a corresponding topping module. When the carriage actuator 134advances the beam 136, the beam 136 can further advance blades and/orretaining plates selected by the set of selection actuators.Additionally or alternatively, when the carriage actuator 134 retractsthe beam 136, the beam 136 can further retract blades and/or retainingplates selected by the set of selection actuators. The carriage 130 canthus advance and retract multiple blades and/or retaining platessimultaneously according to positions (i.e., selections) of theselection actuators. The selection actuators can thus select retainingplate 117 s in various topping modules to load topping samples intocutting mechanisms of the various topping modules substantiallysimultaneously with a single retraction throw of the carriage 130, andthe carriage 130 can complete an advancement throw to slice toppingservings from topping samples in the various topping modulessubstantially simultaneously. The selection actuators can further selectretaining plates in the various topping modules to dispense toppingservings from the various topping modules onto adjacent topping vehiclessubstantially simultaneously with a single retraction throw of thecarriage 130, and the carriage 130 can complete an advancement throw toreturn the retaining plate to complete the current topping servingdispense cycle and prepare for a subsequent cycle. During or soon afterthe carriage 130 advances the retaining plate at the close of a toppingserving dispense cycle, the conveyor 120 can advance the toppingvehicle(s) to a subsequent topping module.

In this implementation, as a topping vehicle advances through successivetopping modules, the processor can control the position of eachselection actuator according to the topping order for the toppingvehicle to dispense only topping servings specified for the toppingvehicle. For example, if a topping order for a corresponding toppingvehicle does not specify pickles or specifies no pickles, the processorcan maintain a selection actuator corresponding to a pickle module in aretaining plate selection state during a topping serving dispense cyclesuch that a pickle sample is not loaded into the corresponding cuttingmechanism and such that a pickle serving is not dispensed onto thetopping vehicle.

The conveyor 120 can thus substantially simultaneously position multipletopping vehicles adjacent a topping module in the system 100 such thatmultiple topping vehicles on the conveyor 120 can receive a toppingserving from an adjacent topping module—if specified by correspondingtopping orders—substantially simultaneously for one topping servingdispense cycle. The conveyor 120 can then index the topping vehiclesforward, thus receiving a new topping vehicle at an input end of theconveyor 120 and delivering a completed topping vehicle (i.e., a toppingvehicle loaded with all designated toppings) at the output end of theconveyor 120, and the carriage 130 can complete a subsequent toppingserving dispense cycle to dispense a subsequent set of topping servingsonto the new set of topping vehicles (i.e., excluding the completedtopping vehicle and including the new topping vehicle).

In this variation, a selection actuator can include an electromechanicalactuator (e.g., a linear solenoid) configured to selectively engage anengagement feature of a corresponding blade in a first position andconfigured to engage an engagement feature of a corresponding retainingplate in a second position. The actuator can thus switch between two ormore states (i.e., positions) to select one or the correspondingretaining plate and the corresponding retaining plate 117. In thisimplementation, a blade and a retaining plate within a topping modulecan include opposing engagement features 119 that define hooks (shown inFIG. 4), and, when the carriage 130 is in a fully advanced position, acorresponding selection actuator can displace a pin between the hook ofthe blade and the hook of the retaining plate to select one of the two.Alternatively, the blade and the retaining plate can include or can becoupled to a ferrous (i.e., magnetic) material, and a correspondingselection actuator can include two electromagnets, each paired with oneor the blade and the retaining plate such that the processor canselective activate one of the two electromagnet of the selectionactuator to select one of the blade and the retaining plate. Similarly,the blade can include or can be coupled to a magnetic material polarizedin a first direction, the retaining plate can include or can be coupledto a magnetic material polarized in a second opposing direction, and theselection actuator can include an electromagnet, wherein the processorreverses the polarity of the electromagnet to select between the bladeand the retaining plate. However, a selection actuator can include anyother type of actuator, such as a rotary electromechanical actuator, apneumatic or hydraulic actuator, an electromagnet, or a mechanical camand latch (e.g., that switches states with at the end of each carriage130 advancement unless blocked by the processor according to acorresponding topping order), and the processor can control eachselection actuator in any other suitable way.

In this implementation and as shown in FIG. 3, the beam 136 of thecarriage 130 can ride on one or more linear tracks 138 or ‘ways,’ suchas a one track of circular cross-section proximal each end of the beam136. In this implementation, the beam 136 can be coupled to the carriageactuator 134 via a timing belt, a connecting rod, or a lead screw, etc.to drive the beam 136 along the track(s) 138. However, the beam 136 canride on any other suitable type of track or guide of any other shape orgeometry, and the beam 136 can be coupled to the carriage actuator 134in any other suitable way.

In another implementation, the carriage 130 includes two beams,including a cutting beam and a retaining beam. In this implementation,the cutting beam can include selection actuators controlled by theprocessor to select and to deselect blades for various topping modulesaccording to topping orders for topping vehicles currently on theconveyor 120, such as described above. Similarly, the retaining beam caninclude selection actuators controlled by the processor to select and todeselect retaining plates for various topping modules according totopping orders for topping vehicles currently on the conveyor 120, suchas described above. The cutting beam and the retaining beam can bedriven together, such as by one carriage actuator 134, or independently,such as by two independently-controlled carriage actuators.

In yet another implementation, the carriage 130 includes a set of phasedcrank pairs, wherein each crank pair includes a blade crank coupled to acorresponding retaining plate 117 and a retaining crank coupled to acorresponding retaining plate. The set of crank pairs can be actuatedvia share a common lay shaft (or crankshaft) such that rotation of thelay shaft (i.e., by the carriage actuator 134) actuates all or aselection of blades out of phase (e.g., 180° out of phase) with all or aselection of the retaining plates. In this implementation, a blade crankand a retaining crank can be coupled to the lay shaft via a cam oreccentric such that the cranks translate rotary motion of the lay shaftinto linear or curvilinear motion at the blades and retaining plates.The carriage 130 can further implement a quick-return or Whitworthlinkage such that speed of advancement differs from speed of retractionof the blades and/or retaining plates. A quick-return or Whitworthlinkage can thus enable fast advancement of a blade through acorresponding topping sample, which may yield cleaner topping cuts. Aquick-return or Whitworth linkage can also enable slow retraction of aretaining plate, which may minimize damage to a serving slice.Furthermore, a retaining crank and a corresponding cutting crank can bephased by other than 180°. For example, a crank pair can be phase by150° such that a retaining plate begins a retract stroke before acorresponding blade is fully advanced. Alternatively, blades of thetopping modules can be coupled to a first lay shaft, and retainingplates of the topping modules can be coupled to a second lay shaft thatis driven out of phase (e.g., variably) with the first lay shaft. Thelay shaft(s) can be actuated at a constant speed and in a constantdirection, at a variable speed and/or direction, at a constant orvariable phase (if applicable) etc.

In other implementations, the carriage 130 includes one beam per toppingmodule, wherein the processor controls a carriage actuator 134 and aselection actuator for each topping module to selectively dispensetopping servings onto corresponding topping vehicles. However, thecarriage 130 can include any other number of carriages, carriageactuator, selection actuators, etc. of any other arrangement andcontrolled in any other suitable way to enable advancement andretraction of the blades and retaining plates of the topping modules.

In still another implementation, a retaining plate 117 and a retainingplate in a corresponding topping module can be actuated in unison (e.g.,locked in phase, substantially rigidly linked in an assembly). In oneexample, the retaining plate 117 is vertically offset from the retainingplate by the desired topping thickness, the leading edge of the bladesubstantially over a trailing edge of the retaining plate, as shown inFIG. 10. In this example implementation, a topping dispense cycle canbegin with the cutting plate/retaining plate assembly fully advanced. Acorresponding selection actuator can subsequently select the cuttingplate/retaining plate assembly (according to a corresponding toppingorder), and the carriage 130 can retract the cutting plate/retainingplate assembly, thereby retracting the blade and loading thecorresponding topping sample into the cutting chamber in a singleretraction stroke, as shown in FIG. 10. The carriage 130 cansubsequently advance the cutting plate/retaining plate assembly, therebyslicing a topping serving from the topping sample and dispensing thetopping serving in a single advancement stroke, as shown in FIG. 10.Therefore, as in this implementation, the carriage 130 can complete atopping dispense cycle in a one advancement stroke and one retractionstroke. Similarly, a blade and a retaining plate 115 in a topping modulecan be coupled in an assembly with a leading edge of the blade laterallyoffset from a leading edge of the retaining plate 115 such that theactuator can advance (or retract) the assembly forward to slice aserving from a topping sample dispensed from a corresponding hopper andsuch that the actuator can retract (or advance) the assembly to dispensethe serving onto a topping vehicle in an adjacent dispense position,such as based on a request for the topping type in a food order specificto the topping vehicle.

In the forgoing variations and implementations, the carriage 130 canadvance and retract a blade linearly and planar to a broad face of theblade. The carriage 130 can similarly advance and retract a retainingplate linearly and planar to a broad face of the retaining plate.However, the carriage 130 can advance and retract a blade and/or aretaining plate in an arcuate, elliptical, circular, oscillatory, orother motion. The carriage actuator 134 can be a rotary actuator, suchas a DC electric motor, a servo motor, a stepper motor, a pneumaticmotor, etc., and the rotary motion actuator can be coupled to the beam136 via a timing belt, a chain, a crank, or any other suitable linkage.Alternatively, the carriage actuator 134 can be a linear actuator, suchas a solenoid, a pneumatic ram, DC electric linear actuator, etc.Furthermore, the carriage actuator 134 include a mechanical,electromechanical, pneumatic, hydraulic, piezoelectric, or other type ofactuator to motivate the carriage 130, blades, and/or retaining platesalong a linear, curvilinear, arcuate, elliptical, or other path.

1.8 Processor

As shown in FIG. 2, one variation of the system 100 further includes aprocessor configured to control selection of the first blade 116 and thefirst retaining plate 115 by the carriage 130 according to a toppingorder specifying the first topping type for the topping vehicle.Generally, the processor functions to control selection of blades,selection of retaining plates, actuation of the carriage 130, and theposition of the conveyor 120 to advance topping vehicles through thetopping modules and dispense topping servings onto the topping vehiclesaccording to corresponding topping orders. The processor can thereforecontrol various components of the system 100 to fulfill custom toppingorders specific to various topping vehicles at various stages of buildwithin the system 100.

The processor can thus maintain and implement a topping ordercorresponding to each topping vehicle in the system 100. Generally, atopping order can specify which topping types are to be deposited on acorresponding topping vehicle, and the processor can implement a toppingorder by selectively controlling which blades and which retaining platesare selected by the carriage 130 during each carriage cycle as theconveyor 120 indexes the topping vehicle through the topping modules.For example, for a topping vehicle associated with a particular toppingorder, when the topping vehicle is indexed to a first position (i.e.,aligned with the first topping module 110), if the topping orderincludes a request for the first topping type corresponding to the firsttopping module 110, the processor can control a selection actuatorcorresponding to the first topping module 110 to sequentially select thefirst blade 116 and the first retaining plate 115 and actuate thecarriage 130 to dispense a topping serving of the first topping typeonto the topping vehicle. Furthermore, when the topping vehicle isindexed forward into a second position (i.e., aligned with the secondtopping module 110 b), if the topping order does not include a requestfor a second topping type dispensed by the second topping module 110 b,the processor can control a corresponding selection actuator to preventdispensation of a topping serving from the second topping module 110 bonto the topping vehicle during a subsequent carriage cycle.

The processor can receive a topping order from a patron, such as througha customer interface (e.g., a touchscreen) coupled to the system 100,through a wireless connection to a mobile computing device (e.g., asmartphone) carried by the patron, or routed from a mobile computingdevice carried by the patron, through a computer network (e.g., theInternet), to the processor. In one example, the customer interface isaccessible through a native application executing on a personal mobileelectronic device, such as a cellular phone, a smartphone, or a tablet.In another example, the customer interface is accessible through a webbrowser executing on an electronic device, such as a cellular phone, asmartphone, a tablet, or a desktop computer.

The topping order can be a component of a complete hamburger order thatalso includes a custom patty order (e.g., meat type, doneness), a sauceor condiment order (e.g., ketchup, mustard, relish, barbecue sauce),and/or a bun order (e.g., bun type, bun toast level), etc. For example,in one implementation described above in which the system 100 is asubsystem of an automated hamburger making machine and wherein thetopping vehicle is a half of a hamburger bun, the complete customhamburger order can include a topping order specifying lettuce, onion,pickle, and tomato, a condiment order specifying ketchup, mayonnaise,mustard, and relish, and patty order specifying a medium-rare ½ lb. beefpatty. In this example, the system 100 can include multiple toppingmodules, each dispensing a distinct topping type, including one oflettuce, onion, pickle, and tomato. The automated hamburger makingmachine can also include separate dispensers for ketchup, mayonnaise,mustard, and relish and a custom patty grinding subsystem and pattygrilling subsystem. Furthermore, in this example, a hopper of acorresponding topping module can be configured to accept fresh produce,to slice the fresh produce, and to dispense servings from the freshproduce onto hamburger buns. The topping order can similarly be acomponent of a complete sandwich order, a complete salad order, acomplete burrito order, etc. and implemented by the processor within anautomated salad, salad, burrito, or other foodstuff assembly machine.

The processor can store a topping order on a data storage module, suchas in the form of an array of pointers indicating which toppings todispense and which toppings not to dispense onto a corresponding toppingvehicle. The processor can thus step through a pointer array as acorresponding topping vehicle is indexed through the topping modules.The processor can also step through a pointer array for each of multipletopping vehicles as the topping vehicles progress through the toppingmodules. For example, the processor can implement a particular pointerin each array for the various topping modules according to the currentstage of each topping vehicle in the system 100. However, the processorcan handle one or more topping orders in any other suitable way tocontrol topping dispensation onto one or more topping vehicles.

The processor can also incorporate feedback mechanisms to controloperation of any one or more components of the system 100. In oneimplementation, the carriage 130 includes an encoder, a camera, a limitswitch, an acoustic sensor, a continuous-turn potentiometer or rheostat,or a laser distance sensor, etc., and the processor implements an outputof the sensor to determine the position of the carriage 130 and toimplement closed-loop feedback to manipulate the position of thecarriage 130. The carriage 130 can similarly include a tension sensor ina timing belt coupled to the carriage actuator 134, a strain gaugeproximal a beam-track junction, a pressure sensor adjacent a cuttingplate-beam contact area, etc., and the processor can implement outputsfrom any of the foregoing sensors to monitor actuation of the carriage130, to detect a total cutting forces across all blades, and/or todetect a cutting forces for individual blades. For example, theprocessor can correlate a signal from a pressure sensor or a straingauge proximal a contact area between the beam 136 and the carriage 130with a sharpness of a corresponding blade. In this example, theprocessor can trigger an alarm, throw a flag, and/or alert an operator,etc. if the determined blade sharpness drops below a thresholdsharpness. In a similar example, the processor correlates a current drawof an electric carriage actuator 134 (measured with an ammeter)advancing the carriage 130 with a sharpness of one or more blades in thesystem 100, and the processor further triggers an alarm in response to adetermined blade sharpness below a threshold blade sharpness. A toppingmodule can also include an optical (e.g., infrared) sensor, a mechanicalsensor, or other sensor adjacent an output end of a correspondingcutting mechanism, and the processor can monitor an output of the sensorto confirm that a topping serving was deposited from the topping moduleas expected. In this implementation, if deposition of a topping servingfrom a particular topping module was not detected by the processor, theprocessor can repeat the previous topping dispense cycle for theparticular topping module (but deselect all other topping modules) toattempt successful deposition of a topping slice from the particulartopping module. Furthermore, in this implementation, if a topping sliceis not dispensed from the particular topping module after a thresholdnumber of attempts (e.g., two), the processor can trigger an alarm,throw a flag, and/or alert an operator, etc. Additionally oralternatively, the processor can increase the speed of a cut stroke ofthe carriage 130 to compensate for blade wear, such as in response to anoutput from a force sensor coupled to the carriage 130 that exceeds athreshold force level indicating blade wear.

In another implementation, the processor receives an output from anammeter electrically coupled to the conveyor actuator, and the processormaintains a conveyor actuator current draw below a threshold currentdraw in order to extend a user life of the conveyor actuator. Theprocessor can also receive signals from encoders or other rotary orlinear position sensors throughout the system 100 and matches cycletimes and positions of multiple components with the speed and positionof the conveyor 120.

As described above the processor can also receive a signal from a hopperlevel sensor and control a corresponding hopper magazine 170 to index afull hopper into a dispense position when the hopper level sensorindicates that a current hopper is empty (e.g., a final topping samplehas fully entered a corresponding chute 112). The processor can alsointerface with an optical sensor (e.g., a camera) arranged over theconveyor 120 and implement machine vision to determine the stability ofa topping stack on a topping vehicle passing through the toppingmodules. In this implementation, the processor can adjust the speed ofthe conveyor 120 to substantially ensure that toppings in the toppingstack do not fall off of the topping vehicle and/or to substantiallyensure that additional topping servings properly settle on the currenttopping stack. However, the processor can receive any other signal fromany other sensor within the system 100 and can control any one or morecomponents in the system 100 according to one or more sensor signalsand/or in any other suitable way.

1.9 Actuator System

In one variation, the system includes an actuator system 180 includingmultiple discrete actuators coupled to various discrete topping modulesand/or topping module receptacles within the system. For example, theactuator system 180 can include a first linear actuator coupled to afirst blade of a first topping module receptacle 190 within the systemand can include a second linear actuator coupled to a second blade of asecond topping module receptacle 190 within the system, wherein thefirst linear actuator is actuatable independently of the second linearactuator. In this example, the first actuator can also selectivelyadvance and retract the first blade and the corresponding firstretaining plate relative to the first receiver 160 in the first toppingmodule receptacle 190 to dispense a serving of a first topping type fromthe first receiver 160 onto a first topping vehicle in the firstdispense position based on a request for the first topping type in afood order corresponding to the first topping vehicle. The conveyor canthen advance the first topping vehicle forward to a second dispenseposition under the adjacent second topping module (or second toppingmodule receptacle 190), and the second linear actuator can selectivelyadvance and retract a second blade and a second retaining plate(relative to a second receiver) of the second topping module 110 todispense a serving of a second topping type from the second receiveronto the first topping vehicle (now in the second dispense position)based on a request for the second topping type in the food ordercorresponding to the first topping vehicle.

In the foregoing example, the conveyor can support the first toppingvehicle in the first dispense position and a second topping vehicle inthe second dispense position substantially simultaneously, and the firstlinear actuator and the second linear actuator can selectively andindependently (and substantially simultaneously, when applicable)advance and retract the blade and the retaining plate 115 relative tothe receiver 160 of the first topping module 110 and the second bladeand the second retaining plate relative to the second receiver,respectively, to dispense the serving of the first topping type onto thefirst topping vehicle in the first dispense position based on the firstfood order for the first topping vehicle and to dispense a serving ofthe second topping type from the second receiver onto the second toppingvehicle in the second dispense position based on a second food order forthe second topping vehicle, respectively (and substantiallysimultaneously, when applicable).

In the foregoing variation, a topping module 110 or a topping modulereceptacle 190 can therefore include one or more discrete actuatorsselectively actuating a corresponding blade and/or retaining plate 115.For example, a topping module 110 can include a pneumatic,electromechanical, or hydraulic linear actuator directly coupled to ablade in the topping module 110 and independently actuated through acorresponding valve or motor driver. In this example, the topping module110 can include a similar discrete actuator coupled to a retaining plate115 and independently actuated through a second corresponding valve ormotor driver. Alternatively, the topping module 110 can include a singleprimary actuator selectively coupled to the blade and the retainingplate 115 by a selection actuator 132, such as described above; theselection actuator 132 can similarly include a pneumatic,electromechanical, or hydraulic actuator or solenoid. For example, thetopping module 110 can include an carriage (independent of carriages inother topping modules in the system) driven by the primary actuator, anda selection mounted on the carriage can selectively couple the carriageto the blade and to the retaining plate 115, as described above.

However, the actuator system 180 can include any other suitable type ofactuator arranged in any other way to selectively and independentlyadvance and retract blade and retaining plates across various toppingmodules within the system.

1.10 Topping Module Receptacle

As shown in FIG. 12, one variation of the system includes a toppingmodule receptacle 190 arranged over the conveyor and transientlyreceiving a topping module 110. Generally, in this variation, the systemincludes a series of topping module receptacles that can be reconfiguredwith various topping modules dispensing different types of toppings suchthat the system can be reconfigured over time to assemble differenttypes of foodstuffs (e.g., salads, sandwiches, hamburgers, andburritos), to assemble different menu items (e.g., a breakfast sandwich,a lunch sandwich, and a dinner sandwich), and/or or to dispensedifferent types of toppings from the system, such as seasonal vegetables(e.g., avocado, eggplant, jicama, okra, and tomatillos). A toppingmodule receptacle 190 can therefore be substantially intransiently(e.g., permanently) installed in the system and can define a cavity orother volume for engaging and disengaging various topping modules overtime, such as topping modules configured to contain and dispense toppingtypes (e.g., pickle, tomato, or mushroom, etc.), configured to dispensetopping servings in different formats (e.g., wavy or flat pickles,finely-grated or coarsely-grated cheese, thick or thin tomato slices,etc.), configured to dispense topping servings in different orientations(e.g., focused at a center of a dispense position or evenly distributedacross a dispense position), etc.

In one example, the system includes a set of topping module receptaclesloaded with a first set of topping modules corresponding to a lunch menuitem (e.g., a lunch salad, a cold sandwich) while the system is inoperation during a lunch period, such as from 10:30 AM to 3 PM on aweekday. In this example, the first set of topping modules can beremoved from the set of topping module receptacles, and the set oftopping module receptacle 190 can be reloaded with a second set oftopping modules corresponding to a dinner menu item (e.g., a hamburger,a hot sandwich), such as between 3 PM and 3:30 PM on the weekday, inpreparation for fulfilling dinner orders from a dinner menu from 3 PM to11 PM on the weekday. In this example, during the lunch hour, the set oftopping module receptacles can host the first set of topping modulesthat dispense avocado and tomato, and the set of topping modulereceptacles can then be reconfigured to host the second set of toppingmodules that dispense sautéed mushrooms and cheese in preparation forthe dinner hour. The set of topping module receptacles can therefore beoperable in a first configuration during a first period of time andoperable in a second configuration during a second period of time;

Topping modules can define topping type-specific geometries (e.g.,hoppers sized specifically for a particular topping type, such astomatoes versus pickles versus lettuce), can include blades configuredto slice, cut, or grate a particular topping type, can include “dumb”retaining plates without weighing scales or “smart” retaining plateswith weighing scales, can include funnels, etc. as applicable to thecorresponding topping type. Topping modules can define geometries,blades, retaining plates, etc. based on a seasonal availability oftopping types, such as an internal diameter of 3″ of hoppers in atopping module 110 corresponding to winter and spring tomatoes and aninternal diameter of 4″ for hoppers in a topping module 110corresponding to summer and fall tomatoes. Because a topping module 110can thus be specialized in configuration and components for the toppingtype it dispenses, the system can include one or more topping modulereceptacles that can transiently host various topping modulescorresponding to different topping types to enable the system to supportdifferent types of foodstuff (e.g., sandwiches, salads, or burritos), toaccommodate different toppings are availabilities of the toppings changeover time (e.g., seasonally), to enable a single generic type system tobe configured for different applications in different service, catering,or restaurant environments, etc.

A topping module 110 can therefore define a complete (e.g.,self-contained) unit including a hopper, a hopper magazine 170, areceiver 160, a blade, a retaining plate 115, a weighing scale 152, anactuator system 180, a selection actuator 132, a carriage, and/or acarriage actuator 134. A topping module receptacle 190 within the systemcan define a cavity that receives complete topping module assemblies. Atopping module receptacle 190 can also include an electrical receptacle(or socket) that engages one or more plugs of a complete topping moduleassembly 110 (or vice versa) to enable a driver within the system tocontrol and/or power various actuators within the complete toppingmodule assembly 110 and to enable a processor to sample one or moresensors within the complete topping module assembly 110. A toppingmodule 110 can thus transiently engage a topping module receptacle 190and can be removable from the topping module receptacle 190 in unit, anda second topping module can transiently engage the topping modulereceptacle 190 in replacement of the first topping module 110.

Alternatively, a topping module receptacle 190 can include a receive, ablade, a retaining plate 115, a weighing scale 152, a selection actuator132, and/or a carriage actuator 134, as applicable, and the toppingmodule receptacle 190 transiently engages a topping module 110 includinga hopper magazine 170. In this implementation, a topping module 110 canbe limited to a receiver 160, a hopper, and/or a hopper magazine 170,and hoppers configured to dispense different topping types can beinstalled into a topping module receptacle 190 over time to reconfigurethe topping module receptacle 190 to dispense servings of differenttopping types. For example, a first hopper magazine 170 containinghoppers configured to dispense a first topping type can be installed inthe topping module receptacle 190 during a first period of time todispense topping servings of the first topping type; the first hoppermagazine 170 can then be swapped from the topping module receptacle 190for a second hopper magazine containing hoppers configured to dispense asecond topping type during a subsequent period of time to dispensetopping servings of the second topping type.

2. Method

As shown in FIG. 5A, method S110 for dispensing toppings onto toppingvehicles includes: indexing a first topping vehicle to a first positionadjacent a first topping module 110 in Block S110, the first toppingmodule 110 including a first hopper 111 containing a first topping of afirst topping type; indexing a second topping vehicle to a secondposition adjacent a second topping module 110 b in Block S112, thesecond topping module 110 b including a second hopper 111 b containing asecond topping of a second topping type; retracting a first blade 116 ofthe first topping module 110 in Block S120; advancing the first blade116 through the first topping in Block S130; retracting a firstretaining plate 115 to dispense a topping slice from the first toppingsample onto the first topping vehicle according to a first topping orderfor the first topping vehicle specifying the first topping type in BlockS140, the first retaining plate 115 offset from the first blade 116opposite the first hopper 111; advancing the first retaining plate 115in Block S150; and indexing the first topping vehicle to the secondposition in Block S160.

Generally, the method can be implemented by the system 100 describedabove to dispense topping servings onto topping vehicles. Blocks S110,S112, and S160 can be controlled by the processor and implemented by theconveyor 120 of the system 100 described above, and Blocks S120, S130,S140, and S150 can be controlled by the processor and implemented by thecarriage 130 of the system 100 described above. Blocks S120, S130, S140,and S150 can also define a load stroke, a cut stroke, a dispense stroke,and a reset stroke, respectively, as shown in FIG. 6.

Block S110 of method S100 recites indexing a first topping vehicle to afirst position adjacent a first topping module 110, the first toppingmodule 110 including a first hopper 111 containing a first topping of afirst topping type. Similarly, Block S112 of method S100 recitesindexing a second topping vehicle to a second position adjacent a secondtopping module 110 b, the second topping module 110 b including a secondhopper 111 b containing a second topping of a second topping type.Generally, Blocks S110 and S112 function to position a first and asecond topping vehicle into positions to receive a topping serving froma first topping module 110 and to receive a topping serving from asecond topping module 110 b, respectively, as described above.

Block S120 of method S100 recites retracting a first blade 116 of thefirst topping module 110. Generally, Block S120 defines a load stroke inwhich the blade of a corresponding topping module is retracted, therebyenabling a topping sample to advance through a corresponding hopper andinto a corresponding cutting chamber. Once a portion of the toppingsample advances into the cutting chamber, the topping sample can beretained by a corresponding retaining plate in a fully-advancedposition. As described above, the processor can implement Block S120 bycontrolling a corresponding selection actuator to select the retainingplate 117 and subsequently controlling the carriage actuator 134 toretract the selected retaining plate 117.

Block S130 of method S100 recites advancing the first blade 116 throughthe first topping. Generally, Block S130 defines a cut stroke in whichthe blade of a corresponding topping module is advanced, thereby slicinga topping serving from the corresponding topping sample. Once theretaining plate 117 is advanced in Block S130, the cutting serving istrapped between the retaining plate 117 and the retaining plate. Asdescribed above, the processor can implement Block S130 by controllingthe carriage actuator 134 to advance the selected retaining plate 117into the topping sample.

Block S140 of method S100 recites retracting a first retaining plate 115to dispense a topping slice from the first topping onto the firsttopping vehicle according to a first topping order for the first toppingvehicle specifying the first topping type, the first retaining plate 115offset from the first blade 116 opposite the first hopper 111.Generally, Block S140 defines a dispense stroke in which the retainingplate of a corresponding topping module is retracted, thereby releasinga topping serving from the topping module. Block S130 can therefore relyon gravity (at least in part) to drop a topping serving from the toppingmodule on the topping vehicle below. As described above, the processorcan implement Block S140 by switching the corresponding selectionactuator from the retaining plate 117 to the retaining plate andsubsequently controlling the carriage actuator 134 to retract theselected retaining plate. As the retaining plate retracts in Block S140,the topper serving can be pushed off the retaining plate via a sidewallof a corresponding retaining guide, as described above, and thus droponto an adjacent topping vehicle.

Block S150 of method S100 recites advancing the first retaining plate115. Generally, Block S150 defines a reset stroke in which the retainingplate of is advanced back through the cutting chamber. Following BlockS150, the retaining plate and the retaining plate 117 are thussubstantially fully advanced, Block S160 can index the conveyor 120forward to bring a subsequent topping vehicle adjacent the toppingmodule, and Blocks S120, S130, and S140 can repeat, thereby releasing atopping serving from the topping module onto the subsequent toppingvehicle. As described above, the processor can implement Block S150 bycontrolling the carriage actuator 134 to advance the retaining plateback into the cutting module.

Block S160 of method S100 recites indexing the first topping vehicle tothe second position. Generally, Block S160 functions to index theconveyor 120 forward to place a topping vehicle in a subsequent toppingposition to receive a topping serving from a subsequent topping module,as described above. The processor can thus implement Block S160 bycontrolling the conveyor actuator to displace the topping vehicleforward into a subsequent topping module position. Method S100 can thusrepeat Blocks S120, S130, S140, and S150—the topping serving dispensecycle—for the succeeding topping module to dispense a topping servingfrom the succeeding topping module onto the topping vehicle, such asbased on a topping order corresponding to the topping vehicle.

As described above, cutting mechanisms of multiple topping modules canbe actuated substantially simultaneously to dispense topping servingsfrom multiple topping modules onto multiple topping vehiclessubstantially simultaneously. For example, Block S120 can includesimultaneously retracting the first blade 116 and retracting a secondblade 116 b of the second topping module 110 b, Block S130 can includesimultaneously advancing the first blade 116 and advancing the secondblade 116 b through the second topping, Block S140 can includesimultaneously retracting the first retaining plate 115 and retracting asecond retaining plate 115 b to dispense a topping slice from the secondtopping onto the second topping vehicle according to a second toppingorder for the second topping vehicle specifying the second topping type,and Block S150 can include simultaneously advancing the first retainingplate 115 and advancing the second retaining plate 115 b, the secondtopping order specifying a combination of topping types different fromthe first topping order. Therefore, Blocks S120, S130, S140, and S150can cooperate to dispense custom combinations of topping servings ontovarious topping vehicles according to corresponding topping orders.

As shown in FIG. 5B, one variation of method S100 further includes BlockS170, which recites indexing the first topping vehicle to a thirdposition adjacent a third topping module, the first topping vehiclewithout a topping slice from the second topping, according to thetopping order for the first topping vehicle that excludes the secondtopping type. Generally, Block S170 functions to implement a customtopping order corresponding to the first topping vehicle, wherein thecustom topping order specifies no topping serving from the third toppingmodule. As described above, method S100 can transport multiple toppingvehicles through multiple adjacent topping modules simultaneously, andtopping vehicles can thus be in various stages of build at any giventime. Method S100 (e.g., implemented by the processor) can cycle thecarriage 130 each time a subsequent topping vehicle enters a dispenseposition adjacent a topping module, and Block S170 can function toprevent loading of a topping serving from a particular topping moduleonto a particular topping vehicle if a corresponding topping order doesnot specify the corresponding topping type. For example, Block S170 canfunction to maintain a corresponding selection actuator in a retainingplate position such that the corresponding retaining plate is cycled(i.e., retracted and advanced) twice during a topping serving dispensecycle rather than cycling the retaining plate and the retaining plate117 once each, which dispenses a topping serving. However, Block S170can function in any other way to implement a topping order that excludesa particular topping type dispensed by a particular topping module.

As shown in FIG. 5B, one variation of method S100 includes Block S180,which recites, in response to exhaustion of the first hopper 111,indexing a succeeding hopper into a dispensing position adjacent thefirst blade 116, the succeeding hopper configured to dispense a toppingof the first topping type. Generally, Block S180 functions to move afull hopper into position over a corresponding cutting mechanism of atopping module once topping samples within a preceding hopper areexhausted. For example, the processor can implement machine visiontechniques to analyze an output of an optical sensor adjacent a toppingmodule to detect a topping level of a hopper in a dispense position, andthe processor can subsequently implement Block S180 to control thehopper magazine 170 to move a succeeding hopper into the dispenseposition in response to detection of an empty preceding hopper.

As shown in FIG. 5B, one variation of method S100 includes Block S190,which recites receiving the first topping order via a computer network,the first topping order submitted by a patron through a mobile computingdevice. Generally, Block S19 functions to receive a topping order and toassign the topping order to a particular topping vehicle. In oneexample, described above, the processor can implement Block S190 toreceive a topping order entered into a native ordering applicationexecuting on a mobile computing device and submitted over a computernetwork (e.g., the Internet). In another example, the processor canimplement Block S190 by receiving a topping order through a customerinterface accessible through a web browser executing on an electronicdevice, such as a cellular phone, a smartphone, a tablet, or a desktopcomputer. In yet another example, the processor can implement Block S190by receiving a topping order through a customer interface arranged on anautomated foodstuff (e.g., hamburger) assembly system. However, BlockS190 can function in any other way to receive a topping order though anyother venue, network, and/or customer interface.

Systems, hoppers, cutting mechanisms, and methods of the embodiments canbe embodied and/or implemented at least in part as a machine configuredto receive a computer-readable medium storing computer-readableinstructions. The instructions are can executed by computer-executablecomponents can integrated with an application, applet, host, server,network, website, communication service, communication interface,hardware/firmware/software elements of a user computer or mobile device,or any suitable combination thereof. Other systems and methods of theembodiment can be embodied and/or implemented at least in part as amachine configured to receive a computer-readable medium storingcomputer-readable instructions. The instructions are can executed bycomputer-executable components can integrated by computer-executablecomponents can integrated with apparatuses and networks of the typedescribed above. The computer-readable medium can be stored on anysuitable computer readable media such as RAMs, ROMs, flash memory,EEPROMs, optical devices (CD or DVD), hard drives, floppy drives, or anysuitable device. The computer-executable component can be a processorbut any suitable dedicated hardware device can (alternatively oradditionally) execute the instructions.

3. Alternative System

With reference to FIGS. 15-25, another system 200 is provided fordispensing toppings onto a topping vehicle. The system 200 may include abase 202, a conveyor 204 that is movable relative to the base 202, andone or more topping modules (or topping dispenser assemblies) 206mounted on the base 202. The conveyor 204 can transport one or moretopping vehicles to dispense positions corresponding to one or more ofthe topping modules 206. Each of the topping modules 206 can cut toppingsamples and dispense the topping samples onto a topping vehicle disposedat a respective dispense position.

The conveyor 204 can be any type of conveyor and can be similar oridentical to any of the conveyor types described above, for example. Acontrol module or processor (similar to the processor described above)can control operation of the conveyor 204 and the topping modules 206 todispense selected amounts of topping samples from selected toppingmodules onto selected topping vehicles.

As shown in FIGS. 16 and 17, each of the topping modules 206 may includea hopper magazine 208 and a dispensing mechanism 210. The hoppermagazine 208 may include a hopper tray or platform 212 and a pluralityof hoppers 214. The hopper platform 212 may be positioned above thedispensing mechanism 210. The hoppers 214 may be tubular containers andmay each include a hopper bracket 216 that slidably engages the hopperplatform 212 (see FIGS. 16-20).

As shown in FIGS. 16-20, each hopper bracket 216 may include a base 218and a collar 220 extend upward from the base 218. The base 218 includesan aperture 222 and tabs 221 (FIG. 18) that support the hopper 214 overthe aperture 222. The collar 220 may be fixedly attached to the base 218and may removably receive a bottom end of the hopper 214. The base 218includes laterally outer portions 223 that each define a U-shapedchannel 224 (FIGS. 18-20) that slidably receive edges of the hopperplatform 212. The base 218 may also include a pair of arms 226 extendingdownward and rearward from respective laterally outer portions 223 ofthe base 218.

As shown in FIG. 18, the hopper platform 212 may be a flat, elongatedplate or board. The hopper platform 212 may include a first end portion228, a second end portion 230, and an intermediate portion 232 betweenthe first and second end portions 228, 230. The intermediate portion 232may be laterally wider than the first and second end portions 228, 230.That is, the lateral width of the intermediate portion 232 may be sizedto extend into the U-shaped channels 224 of the hopper brackets 216 sothat the hopper platform 212 can securely engage the hopper brackets 216while allowing the hopper brackets 216 to slide along the length of thehopper platform 212. The first and second end portions 228, 230 of thehopper platform 212 have narrower widths to allow hopper brackets 216 onthe first and second end portions 228, 230 to be easily removed from andloaded onto the hopper platform 212.

As shown in FIG. 18, the hopper platform 212 may be supported above thedispensing mechanism 210 by a platform support member 231 and a toppingchute 233. The platform support member 231 may be fixed to or a part ofthe base 202. The topping chute 233 may be a tubular member supported bythe dispensing mechanism 210 (as will be described in more detailbelow). The hopper platform 212 includes an aperture 234 (FIG. 18)formed in the intermediate portion 232 adjacent the first end portion228. The aperture 234 is aligned with an aperture 236 that extendsaxially through the topping chute 233. One of the hoppers 214 can bemoved (by sliding its hopper bracket 216) into alignment with theapertures 234, 236 to allow toppings in the hopper 214 to fall into inthe chute 233. The chute 233 may removably engage a chute housing 235(FIGS. 16-18). The chute housing 235 is fixed relative to the base 202and supports the chute 233 in a position adjacent the dispensingmechanism 210, as shown in FIG. 18.

The dispensing mechanism 210 can cut (e.g., slice or grate) toppingsamples from toppings in the chute 233 and dispense the topping samplesonto a topping vehicle on the conveyor 204. As will be described in moredetail below, when all of the toppings have been emptied from a givenhopper 214, the dispensing mechanism 210 can slide the hopper and itshopper bracket 216 onto the first end portion 228 of the hopper platform212 while simultaneously sliding another hopper 214 (and its hopperbracket 216) into alignment with the apertures 234, 236 in the hopperplatform 212 and topping chute 233. The empty hopper 214 and its hopperbracket 216 can be manually lifted off of the first end portion 228 ofthe hopper platform 212 and removed from the system 200 for refilling.

The dispensing mechanism 210 may include a housing 240 (FIGS. 16-18 and22), a retaining plate 242 (FIGS. 16-18, 22, and 23), a blade mechanism244 (FIG. 23), an advancing pin mechanism 246 (FIG. 23), and anadvancing actuator 248 (FIG. 18). The housing 240 may be slidablymounted to a pair of parallel rails 250 (FIGS. 16-18) that are fixedrelative to the base 202. The retaining plate 242 is fixed relative tothe housing 240. The blade mechanism 244 and advancing pin mechanism 246are fixed to and disposed within the housing 240. The advancing actuator248 can move the housing 240 and retaining plate 242 relative to thechute 233, the rails 250 and the base 202 between a retracted position(FIG. 16) and an extended position (FIG. 17).

As shown in FIGS. 22 and 23, the retaining plate 242 may be a generallyflat plate having a first recess 252 and a second recess 255 formed in atop surface 253. The retaining plate 242 also includes an aperture 254directly adjacent the first and second recesses 252, 255. A bladecarrier 256 (FIG. 25) may be fixedly received in the second recess 255and may extend across the aperture 254. A blade 258 may be mounted tothe blade carrier 256 and may be approximately flush with the topsurface 253 of the retaining plate 242. The blade 258 may include a slot260 that slidably receives a peg 262 formed on the blade carrier 256. Aclip 264 may engage the retaining plate 242 by a snap fit, for example,and may retain the blade 258 on the blade carrier 256 and the retainingplate 242 while still allowing the blade 258 to reciprocate in adirection along a longitudinal axis of the slot 260. The blade mechanism244 may drive the reciprocating motion of the blade 258 relative to theretaining plate 242.

The blade mechanism 244 could be any type of mechanism capable ofdriving the reciprocating motion of the blade 258 relative to theretaining plate 242. For example, the blade mechanism 244 could includea motor-driven scotch yoke or slider-crank linkage. In another exampleshown in FIG. 23, the blade mechanism 244 may include a motor 266, a cam270, a drive arm 271, and an output shaft 273. The motor 266 may includean output shaft (not shown) that drives rotation of the cam 270. Theoutput shaft could drive the cam 270 by a belt 272. In someconfigurations, the output shaft of the motor 266 could drive the cam270 directly or the output shaft could drive the cam 270 via gears orany other transmission device. The drive arm 271 may include a first end274 with a cam follower 275 that engages the cam 270. An intermediateportion 276 of the drive arm 271 is pivotable about a fixed axis definedby a pin 278. A second end 280 of the drive arm 271 may be pivotablycoupled to the output shaft 273. The output shaft 273 may be removablyattached to the blade 258. As shown in FIG. 22, a portion of the outputshaft 273 may be encased in a flexible bellows seal 277. Operation ofthe motor 266 causes rotation of the cam 270, which causes the drive arm271 to pivot back and forth about the axis defined by the pin 278, whichcauses reciprocating movement of the output shaft 273 and the blade 258relative to the retaining plate 242 and blade carrier 256.

The advancing actuator 248 can be any suitable type of linear actuator.For example, the advancing actuator 248 may include a motor thatselectively moves the housing 240, retaining plate 242, blade mechanism244, and advancing pin mechanism 246 along guide rails relative to thebase 202 and chute 233 between the retracted position (FIG. 16) and theextended position (FIG. 17). Therefore, as the blade mechanism 244reciprocates the blade 258, the advancing actuator 248 can move theblade 258 and retaining plate 242 toward the extended position (i.e., ina direction perpendicular to the reciprocating motion of the blade 258)to slice a topping sample from a topping in the chute 233.

Before the blade 258 begins slicing the topping sample, the topping willbe resting on a bottom surface 251 (FIGS. 22-24) of the recess 252. Asthe blade 258 passes through the topping, the sliced topping sample isreceived into through the aperture 254 in the retaining plate 242 whilethe rest of the topping slides onto the top surface 253 of the retainingplate behind a trailing edge 259 of the blade 258. Once the toppingsample is completely sliced off of the rest of the topping, the slicedtopping sample can drop down onto the topping vehicle on the conveyor204 below the aperture 254. The advancing actuator 248 can then move thehousing 240, retaining plate 242, and blade 258 back toward theretracted position so that the topping that remains in the chute 233 candrop into the recess 252 of the retaining plate 242 so that anothertopping sample can be sliced, if desired. The depth of the recess 252(i.e., the distance between the bottom surface 251 and the top surface253) determines the thickness of the sliced topping sample cut by theblade 258. Therefore, different topping modules 206 intended fordifferent topping types may have retaining plates 242 with differentdepths of recesses 252. For example, a retaining plate 242 for a toppingmodule 206 intended for cutting and dispensing tomatoes may have aretaining plate 242 with a deeper recess 252 than a retaining plate 242for a topping module 206 intended for cutting and dispensing onions.

The advancing pin mechanism 246 could be any type of mechanism capableof moving first and second hopper-advancing pins 284, 286 relative tothe housing 240 between deployed positions (FIG. 19) and stowedpositions (FIG. 20). In the particular example shown in FIG. 23, theadvancing pin mechanism 246 may include a support bracket 281, a motor282, the first hopper-advancing pin 284, and the second hopper-advancingpin 286. The support bracket 281 is fixed to the housing 240. The motor282 may be attached to the support bracket 281 and may drive a pinion288. The first and second advancing pins 284, 286 may be coupled tofirst and second racks 290, 292, respectively. The pinion 288 meshinglyengages the first and second racks 290, 292 such that rotation of thepinion 288 causes linear movement of the racks 290, 292 and theadvancing pins 284, 286 in opposite directions between deployedpositions (FIG. 19) and stowed positions (FIG. 20). In the deployedpositions, the advancing pins 284, 286 protrude outward from oppositelateral sides of the housing 240. In the stowed positions, the advancingpins 284, 286 are partially or completely retracted into the housing240.

As shown in FIGS. 16, 17, and 21, the advancing actuator 248 can movethe housing 240 into a position such that the advancing pins 284, 286can be moved into the deployed positions to engage notches 294 in thearms 226 of one of the hopper brackets 216. With the advancing pins 284,286 engaging the hopper bracket 216 in this manner, further actuation ofthe advancing actuator 248 to move the housing 240 toward the extendedposition (i.e., toward the position shown in FIG. 17) will cause thehopper bracket 216 (and corresponding hopper 214) engaged by theadvancing pins 284, 286 (as well as any other hopper brackets 216 andcorresponding hoppers 214 between the engaged hopper bracket 216 and thefirst end portion 228 of the hopper platform 212) to slide along thehopper platform 212 toward the first end portion 228. In someembodiments, the hopper brackets 216 of all of the hoppers 214 on agiven hopper platform 212 may be linked to each other by a set of clipsor tethers that attach adjacent hopper brackets 216 to each other. Inthis manner, engaging a particular hopper bracket 216 with the advancingpins 284, 286 and moving the advancing actuator 248 as described abovewill cause all of the hopper brackets 216 on the hopper platform 212(including any hopper brackets between the engaged hopper bracket 216and the second end portion 230 of the hopper platform 212) to movetogether toward the first end portion 228 of the hopper platform 212.Such clips or tethers could be attached at any suitable location on thehopper brackets 216 such as hooks, tabs, and/or apertures formed on orin the hopper brackets 216.

In this manner, when all of the toppings have been dispensed from thehopper 214 aligned with the chute 233 (i.e., when the hopper 214 alignedwith the chute 233 is empty), the advancing pin mechanism 246 can movethe advancing pins 284, 286 into the deployed positions to engage arms226 of a selected hopper bracket 216 so the advancing actuator 248 drivethe advancing pins 284, 286 forward to push the empty hopper 214 ontothe first end portion 228 of the hopper platform 212 (as shown in FIG.17) while pushing a full hopper 214 into alignment with the chute 233.As described above, the empty hopper 214 and its hopper bracket 216 canbe lifted off of the first end portion 228 of the hopper platform 212and removed from the system 200 for cleaning and/or refilling. With aremaining full hopper 214 positioned on the hopper platform 212 inalignment with the chute 233, the advancing pin mechanism 246 can movethe advancing pins 284, 286 into the stowed positions to disengage thehopper brackets 216 so that the advancing actuator 248 can move thehousing 240, retaining plate 242 and blade 258 freely relative to thehoppers 214 to slice topping samples from the topping in the chute 233as described above.

While the dispensing mechanism 210 is described above as having theretaining plate 242, blade 258, and blade mechanism 244, the system 200can also include one or more topping modules 206 having a dispensingmechanism 210 a (FIGS. 15, 26, and 27) that includes a grater 296. Thegrater 296 may be a tubular member (e.g., a hollow, cylindrical drum)having a plurality of apertures 298 that extend through outer and innerdiametrical surfaces of the grater 296. The apertures 298 may be definedby or disposed adjacent sharp edges or blades. The grater 296 may berotatable within a housing 300 and may be driven by a grater motor 302disposed within the housing 240 a. A chute 233 a may receive one or moretoppings (e.g., one or more blocks of cheese 297) from hoppers 214. Asthe grater 296 rotates within the housing 300, the grater 296 grates(shaves or cuts) topping samples 299 (e.g., shreds of cheese) from oneof the toppings (e.g., one of the blocks of cheese 297) in the chute 233a and the grated topping samples 299 (e.g., shredded cheese) can fallonto a topping vehicle on the conveyor 204. As shown in FIGS. 26 and 27,the grater 296 may be positioned such that a rotational axis A of thegrater 296 is angled relative to a longitudinal axis of the hopper 214and the conveyor 204 so that gravity causes the grated topping samples299 to fall out of the grater 296 as the grater 296 rotates. In someconfigurations, as the grated topping samples 299 fall out of the grater296, a funnel or deflector 304 may guide the grated topping samples 299toward the topping vehicle. In some configurations, a weight 301 may beplaced within the hopper 214 and on top of the toppings (e.g., the oneor more blocks of cheese) 297 to provide a downward force on thetoppings 297 that facilitates grating while the grater 296 rotates.

In some configurations, the grated topping samples 299 may fall from thegrater 296, through the funnel 304, and onto a dispensing paddle 306.The paddle 306 may be mounted to a frame 308. The frame 308 may besupported by the base 202, and an end portion 309 of the frame 308 mayreciprocate in and out of the base 202. A load cell 310 may connect thepaddle 306 to the frame 308. The load cell 310 may measure a weight ofgrated topping samples 299 that accumulate on the paddle 306.

An advancing actuator (similar or identical to the advancing actuator248) may be coupled to the frame 308 and may move the frame 308 andpaddle 306 relative to the base 202, grater 296 and funnel 304 between afirst position or load position (shown in FIG. 26) and a second positionor unload position (shown in FIG. 27). With the frame 308 and paddle 306in the first position (i.e., with the paddle 306 positioned underneathand in alignment with the funnel 304), the grater motor 302 may drivethe grater 296 to grate and dispense grated topping samples 299 onto thepaddle 306. As described above, the load cell 310 may measure a weightof grated topping samples 299 that accumulate on the paddle 306. After adesired amount of grated topping samples 299 has been loaded onto thepaddle 306, the advancing actuator may move the frame 308 and paddle 306to the second position to dispense the grated topping samples 299 ontothe topping vehicle on the conveyor 204.

As the paddle 306 moves toward the second position, a scraper 312mounted to the funnel 304 may force the grated topping samples 299 offof the paddle 306 and cause the grated topping samples 299 to fall ontothe topping vehicle on the conveyor 204.

The scraper 312 may be pivotably mounted to a bracket 314 disposed onthe funnel 304. The scraper 312 may include a front scraping edge 316and a weighted back end 318. The scraper 312 is pivotable relative tothe funnel 304 and paddle 306 between an engaged position (FIG. 27) anda disengaged position (FIG. 26). An axis of rotation of the scraper 312is positioned such that the weight of the weighted back end 318 of thescraper 312 rotationally urges the scraper 312 toward the disengagedposition. When the paddle 306 is in the first position (FIG. 26),clearance between a rear edge 319 of the paddle 306 and the weightedback end 318 allows the scraper 312 to rotate into the disengagedposition so that the scraper 312 does not contact the paddle 306.Keeping the weight of the scraper 312 off of the paddle 306 while thepaddle 306 is in the first position improves the accuracy with which theload cell 310 can measure the weight of the grated topping samples 299on the paddle 306.

As the paddle 306 is moved from the first position toward the secondposition, the paddle 306 contacts the weighted back end 318 of thescraper 312 and forces the scraper 312 to rotate into the engagedposition. In the engaged position, the front scraping edge 316 of thescraper 312 is in contact with the paddle 306 so that the front scrapingedge 316 can push the grated topping samples 299 off of the paddle 306as the paddle 306 moves toward the second position. The scraper 312 mayalso include a stopper 320 (e.g., a peg) that is received in a slot oraperture 322 in the bracket 314 that limits the range of rotationalmotion of the scraper 312 relative to the funnel 304.

In some configurations, instead of the paddle 306 that moves linearlybetween the first and second positions, the dispensing mechanism 210 acould include a paddle or trap door that rotates between a firstposition (in which the grated topping samples 299 are dispensed onto thepaddle or trap door) and a second position (in which the grated toppingsamples 299 are allowed to fall from the paddle or trap door onto thetopping vehicle on the conveyor 204).

In some configurations, the dispensing mechanism 210 a could include areciprocating grater (e.g., with a flat grating surface) instead of orin addition to the rotating grater 296.

The dispensing mechanism 210 a can include the advancing pin mechanism246 with hopper-advancing pins 284, 286. The advancing pin mechanism 246and hopper-advancing pins 284, 286 can be disposed within or mounted toa housing 240 a or any other suitable structure. The housing 240 a maybe mounted to the frame 308 such that the advancing actuator can movethe housing 240 a relative to the hopper platform 212 to move hoppers214 along the hopper platform 212 in the manner described above.

Referring now to FIGS. 15, 28, and 29, the system 200 can also includeone or more topping modules 206 having a dispensing mechanism 210 b thatincludes a dispensing drum 350.

The dispensing drum 350 may be a tubular member (e.g., a hollow,cylindrical drum) with closed axial ends (axial end cap 351 is shownexploded from the dispensing drum 350 in FIGS. 28 and 29) and one ormore apertures 352 that extend through outer and inner diametricalsurfaces of the dispensing drum 350. The dispensing drum 350 may berotatable within a housing 354 and may be driven by a drum motordisposed within a motor housing 356. A chute 358 may extend between thedispensing drum 350 and the hopper 214 and may receive toppings 360(e.g., shredded or chopped lettuce or other produce) from the hopper214.

As the dispensing drum 350 rotates within the housing 354, thedispensing drum 350 collects toppings 360 from the chute 358 anddispenses the collected toppings 360 onto a dispensing paddle 362. Thatis, when the dispensing drum 350 is at or proximate a first position(FIG. 28) in which the aperture 352 is open to the chute 358, toppings360 can fall from the chute 358 into the dispensing drum 350 through theaperture 352. When the dispensing drum 350 is at or proximate a secondposition (FIG. 29) in which the aperture 352 is open to a dispensingfunnel 364, the toppings 360 in the dispensing drum 350 can fall throughthe aperture 352, through the funnel 364, and onto the dispensing paddle362.

Like the paddle 306 of the dispensing mechanism 210 a, the paddle 362 ofthe dispensing mechanism 210 b may be mounted to a movable frame (likeframe 308) or directly to an actuator operable to move the paddle 362between a load position and an unload position. A load cell (like loadcell 310) may be connected to the paddle 362 to measure a weight oftoppings 360 that accumulate on the paddle 362. The paddle 362 may alsoinclude a scraper having the same or similar structure and function asthe scraper 312 described above.

Although not shown in the drawings, the dispensing mechanism 210 b caninclude the advancing pin mechanism 246 with hopper-advancing pins 284,286 like the dispensing mechanisms 210, 210 a. The advancing pinmechanism 246 and hopper-advancing pins 284, 286 of the dispensingmechanism 201 b can be disposed within or mounted to a housing (notshown) and movable with the paddle 362 such that the advancing actuatorcan move the hopper-advancing pins 284, 286 relative to the hopperplatform 212 to move hoppers 214 along the hopper platform 212 in themanner described above.

A control module may control operation of the motors of the advancingactuators 248, the blade mechanisms 244, graters 296, dispensing drum350, and the advancing pin mechanisms 246 to achieve any of thefunctionality described above at desired times. Sensors (e.g., proximitysensors, optical sensors, load cells, etc.) may be in communication withthe control module to determine when a hopper 214 is empty.

OVERALL

The foregoing description is merely illustrative in nature and is in noway intended to limit the disclosure, its application, or uses. Thebroad teachings of the disclosure can be implemented in a variety offorms. Therefore, while this disclosure includes particular examples,the true scope of the disclosure should not be so limited since othermodifications will become apparent upon a study of the drawings, thespecification, and the following claims. It should be understood thatone or more steps within a method may be executed in different order (orconcurrently) without altering the principles of the present disclosure.Further, although each of the embodiments is described above as havingcertain features, any one or more of those features described withrespect to any embodiment of the disclosure can be implemented in and/orcombined with features of any of the other embodiments, even if thatcombination is not explicitly described. In other words, the describedembodiments are not mutually exclusive, and permutations of one or moreembodiments with one another remain within the scope of this disclosure.

Spatial and functional relationships between elements (for example,between modules, circuit elements, semiconductor layers, etc.) aredescribed using various terms, including “connected,” “engaged,”“coupled,” “adjacent,” “next to,” “on top of,” “above,” “below,” and“disposed.” Unless explicitly described as being “direct,” when arelationship between first and second elements is described in the abovedisclosure, that relationship can be a direct relationship where noother intervening elements are present between the first and secondelements, but can also be an indirect relationship where one or moreintervening elements are present (either spatially or functionally)between the first and second elements.

As used herein, the phrase at least one of A, B, and C should beconstrued to mean a logical (A OR B OR C), using a non-exclusive logicalOR, and should not be construed to mean “at least one of A, at least oneof B, and at least one of C.” The term subset does not necessarilyrequire a proper subset. In other words, a first subset of a first setmay be coextensive with (equal to) the first set.

In the figures, the direction of an arrow, as indicated by thearrowhead, generally demonstrates the flow of information (such as dataor instructions) that is of interest to the illustration. For example,when element A and element B exchange a variety of information butinformation transmitted from element A to element B is relevant to theillustration, the arrow may point from element A to element B. Thisunidirectional arrow does not imply that no other information istransmitted from element B to element A. Further, for information sentfrom element A to element B, element B may send requests for, or receiptacknowledgements of, the information to element A.

In this application, including the definitions below, the term “controlmodule” may be replaced with the term “circuit.” The term “controlmodule” may refer to, be part of, or include: an Application SpecificIntegrated Circuit (ASIC); a digital, analog, or mixed analog/digitaldiscrete circuit; a digital, analog, or mixed analog/digital integratedcircuit; a combinational logic circuit; a field programmable gate array(FPGA); a processor circuit (shared, dedicated, or group) that executescode; a memory circuit (shared, dedicated, or group) that stores codeexecuted by the processor circuit; other suitable hardware componentsthat provide the described functionality; or a combination of some orall of the above, such as in a system-on-chip.

The control module may include one or more interface circuits. In someexamples, the interface circuit(s) may implement wired or wirelessinterfaces that connect to a local area network (LAN) or a wirelesspersonal area network (WPAN). Examples of a LAN are Institute ofElectrical and Electronics Engineers (IEEE) Standard 802.11-2016 (alsoknown as the WIFI wireless networking standard) and IEEE Standard802.3-2015 (also known as the ETHERNET wired networking standard).Examples of a WPAN are the BLUETOOTH wireless networking standard fromthe Bluetooth Special Interest Group and IEEE Standard 802.15.4.

The control module may communicate with other modules using theinterface circuit(s). The control module may logically communicatedirectly with other control modules or communicate via a communicationssystem. The communications system includes physical and/or virtualnetworking equipment such as hubs, switches, routers, and gateways. Insome implementations, the communications system connects to or traversesa wide area network (WAN) such as the Internet. For example, thecommunications system may include multiple LANs connected to each otherover the Internet or point-to-point leased lines using technologiesincluding Multiprotocol Label Switching (MPLS) and virtual privatenetworks (VPNs).

In various implementations, the functionality of the control module maybe distributed among multiple control modules that are connected via thecommunications system. For example, multiple control modules mayimplement the same functionality distributed by a load balancing system.In a further example, the functionality of the control module may besplit between a server (also known as remote, or cloud) module and aclient (or, user) module.

Some or all hardware features of a control module may be defined using alanguage for hardware description, such as IEEE Standard 1364-2005(commonly called “Verilog”) and IEEE Standard 1076-2008 (commonly called“VHDL”). The hardware description language may be used to manufactureand/or program a hardware circuit. In some implementations, some or allfeatures of a control module may be defined by a language, such as IEEE1666-2005 (commonly called “SystemC”), that encompasses both code, asdescribed below, and hardware description.

The term code, as used above, may include software, firmware, and/ormicrocode, and may refer to programs, routines, functions, classes, datastructures, and/or objects. The term shared processor circuitencompasses a single processor circuit that executes some or all codefrom multiple modules. The term group processor circuit encompasses aprocessor circuit that, in combination with additional processorcircuits, executes some or all code from one or more modules. Referencesto multiple processor circuits encompass multiple processor circuits ondiscrete dies, multiple processor circuits on a single die, multiplecores of a single processor circuit, multiple threads of a singleprocessor circuit, or a combination of the above. The term shared memorycircuit encompasses a single memory circuit that stores some or all codefrom multiple modules. The term group memory circuit encompasses amemory circuit that, in combination with additional memories, storessome or all code from one or more modules.

The term memory circuit is a subset of the term computer-readablemedium. The term computer-readable medium, as used herein, does notencompass transitory electrical or electromagnetic signals propagatingthrough a medium (such as on a carrier wave); the term computer-readablemedium may therefore be considered tangible and non-transitory.Non-limiting examples of a non-transitory computer-readable medium arenonvolatile memory circuits (such as a flash memory circuit, an erasableprogrammable read-only memory circuit, or a mask read-only memorycircuit), volatile memory circuits (such as a static random accessmemory circuit or a dynamic random access memory circuit), magneticstorage media (such as an analog or digital magnetic tape or a hard diskdrive), and optical storage media (such as a CD, a DVD, or a Blu-rayDisc).

The apparatuses and methods described in this application may bepartially or fully implemented by a special purpose computer created byconfiguring a general purpose computer to execute one or more particularfunctions embodied in computer programs. The functional blocks andflowchart elements described above serve as software specifications,which can be translated into the computer programs by the routine workof a skilled technician or programmer.

The computer programs include processor-executable instructions that arestored on at least one non-transitory computer-readable medium. Thecomputer programs may also include or rely on stored data. The computerprograms may encompass a basic input/output system (BIOS) that interactswith hardware of the special purpose computer, device drivers thatinteract with particular devices of the special purpose computer, one ormore operating systems, user applications, background services,background applications, etc.

The computer programs may include: (i) descriptive text to be parsed,such as HTML (hypertext markup language), XML (extensible markuplanguage), or JSON (JavaScript Object Notation), (ii) assembly code,(iii) object code generated from source code by a compiler, (iv) sourcecode for execution by an interpreter, (v) source code for compilationand execution by a just-in-time compiler, etc. As examples only, sourcecode may be written using syntax from languages including C, C++, C#,Objective-C, Swift, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl,Pascal, Curl, OCaml, Javascript®, HTML5 (Hypertext Markup Language 5threvision), Ada, ASP (Active Server Pages), PHP (PHP: HypertextPreprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, VisualBasic®, Lua, MATLAB, SIMULINK, and Python®.

1. A system comprising: a base; a hopper platform mounted on the base; aplurality of hoppers each including a hopper bracket slidably engagingthe hopper platform; a retaining plate movable relative to the basebetween a retracted position and an extended position; a blade mountedon the retaining plate and reciprocating relative to the retainingplate; and a hopper-advancing pin movable relative to the hoppersbetween a deployed position and a stowed position, wherein thehopper-advancing pin is configured to engage one of the hopper bracketsin the deployed position such that movement of the retaining platebetween the retracted and extended positions causes movement of the oneof the hopper brackets and a respective hopper along a length of thehopper platform, and wherein the hopper-advancing pin is disengaged fromthe hopper brackets in the stowed position to allow movement of theretaining plate between the retracted and extended positions withoutcausing corresponding movement of the hopper brackets relative to thehopper platform.
 2. The system of claim 1, wherein: the retaining platemoves in a first direction relative to the base between the retractedposition and the extended position, and the blade reciprocates relativeto the retaining plate in a second direction that is non-parallel withthe first direction.
 3. The system of claim 1, further comprising aconveyor disposed below the retaining plate, wherein the conveyor isconfigured to move a topping vehicle in a direction perpendicular to adirection of movement of the retaining plate between the retractedposition and the extended position.
 4. The system of claim 1, wherein:the retaining plate includes a top surface and a recessed surface thatis offset from the top surface, the retaining plate includes an apertureadjacent the recessed surface, and the blade extends over at least aportion of the aperture.
 5. The system of claim 4, further comprising ablade carrier fixed to the retaining plate and including a peg that isreceived in a slot in the blade to allow the blade to move relative tothe retaining plate in a direction along a longitudinal axis of theslot.
 6. The system of claim 1, further comprising a blade mechanismconfigured to reciprocate the blade relative to the retaining plate,wherein the blade mechanism includes: a motor; a cam driven by themotor; and a drive arm including a first end, a second end, and anintermediate portion between the first and second ends, wherein thefirst end includes a cam follower engaging the cam, wherein theintermediate portion defines a rotational axis of the drive arm, andwherein the second end is pivotably coupled to an output shaft thatengages the blade.
 7. The system of claim 1, wherein: the systemincludes two hopper-advancing pins movable relative to the hoppersbetween the deployed and stowed positions, and the system furthercomprising an advancing pin mechanism configured to move thehopper-advancing pins simultaneously between the deployed and stowedpositions, the advancing pin mechanism including: a motor; a piniondriven by the motor; and first and second rack members meshinglyengaging the pinion such that rotation of the pinion causes simultaneouslinear movement of the first and second rack members in oppositedirections, wherein the first and second rack members are fixed torespective hopper-advancing pins such that the linear movement of thefirst and second rack members moves the hopper-advancing pins betweenthe deployed and stowed positions.
 8. The system of claim 7, wherein thehopper brackets include a pair of arms having notches that areconfigured to receive the hopper-advancing pins when thehopper-advancing pins are in the deployed position.
 9. The system ofclaim 1, wherein: the hopper platform includes an end portion and anintermediate portion, the end portion has a width that is less than awidth of the intermediate portion, the hopper brackets define a pair ofchannels that slidably engage lateral edges of the intermediate portion,and lateral edges of the end portion of the hopper platform are spacedlaterally inward relative to the channels.
 10. A system comprising: ahopper platform; a plurality of hoppers each including a hopper bracketslidably engaging the hopper platform; a dispensing mechanism disposedbelow the hoppers and configured to cut a food item from one of thehoppers; and a hopper-advancing pin movable relative to the hoppersbetween a deployed position and a stowed position, wherein: thehopper-advancing pin is coupled to a housing and is configured to engageone of the hopper brackets in the deployed position such that movementof the housing between a retracted position and an extended positioncauses movement of the one of the hopper brackets and a respectivehopper along a length of the hopper platform, and the hopper-advancingpin is disengaged from the hopper brackets in the stowed position toallow movement of the housing between the retracted and extendedpositions without causing corresponding movement of the hopper bracketsrelative to the hopper platform.
 11. The system of claim 10, wherein:the system includes two hopper-advancing pins movable relative to thehoppers between the deployed and stowed positions, and the systemfurther comprising an advancing pin mechanism configured to move thehopper-advancing pins simultaneously between the deployed and stowedpositions, the advancing pin mechanism including: a motor; a piniondriven by the motor; and first and second rack members meshinglyengaging the pinion such that rotation of the pinion causes simultaneouslinear movement of the first and second rack members in oppositedirections, wherein the first and second rack members are fixed torespective hopper-advancing pins such that the linear movement of thefirst and second rack members moves the hopper-advancing pins betweenthe deployed and stowed positions.
 12. The system of claim 11, whereinthe hopper brackets include a pair of arms having notches that areconfigured to receive the hopper-advancing pins when thehopper-advancing pins are in the deployed position.
 13. The system ofclaim 11, wherein: the hopper platform includes an end portion and anintermediate portion, the end portion has a width that is less than awidth of the intermediate portion, the hopper brackets define a pair ofchannels that slidably engage lateral edges of the intermediate portion,and lateral edges of the end portion of the hopper platform are spacedlaterally inward relative to the channels.
 14. The system of claim 10,wherein: the dispensing mechanism includes a grater; the grater includesa tubular member having a plurality of apertures; and the grater isrotatable relative to the hoppers.
 15. The system of claim 10, whereinthe dispensing mechanism includes a blade and a retaining plate.
 16. Thesystem of claim 15, wherein: the retaining plate is movable relative tothe hopper platform between a retracted position and an extendedposition, the blade is mounted on the retaining plate and reciprocatesrelative to the retaining plate, the retaining plate moves in a firstdirection relative to the hopper platform between the retracted positionand the extended position, and the blade reciprocates relative to theretaining plate in a second direction that is non-parallel with thefirst direction.
 17. The system of claim 16, wherein: the retainingplate includes a top surface and a recessed surface that is offset fromthe top surface, the retaining plate includes an aperture adjacent therecessed surface, and the blade extends over at least a portion of theaperture.
 18. The system of claim 17, further comprising a blade carrierfixed to the retaining plate and including a peg that is received in aslot in the blade to allow the blade to move relative to the retainingplate in a direction along a longitudinal axis of the slot.
 19. Thesystem of claim 10, further comprising a conveyor disposed below thedispensing mechanism.
 20. The system of claim 10, wherein the dispensingmechanism includes a blade mechanism configured to reciprocate a bladerelative to the hopper platform, wherein the blade mechanism includes: amotor; a cam driven by the motor; and a drive arm including a first end,a second end, and an intermediate portion between the first and secondends, wherein the first end includes a cam follower engaging the cam,wherein the intermediate portion defines a rotational axis of the drivearm, and wherein the second end is pivotably coupled to an output shaftthat engages the blade.